3D scanning has seen an increase in use over the past several years in fields like engineering, industrial design, medicine, and robotics. Scanning equipment is still very expensive, often pushing it beyond the grasp of most people. This project sought to build a working 3D scanner from inexpensive sensors and a Lego Mindstorms robotics kit and determine if it was possible to generate accurate 3D models from the sensor information. Multiple algorithms for outlier removal, noise reduction, surface smoothing, and surface reconstruction were examined and implemented. Results showed that the resolution on infrared distance sensors simply do not have the resolution and accuracy required for accurate models to be built.