Recently various algorithms for building of three-dimensional maps of indoor environments have been proposed. In this work we use a Kinect camera that captures RGB images along with depth information. The fusion algorithm is used to combine the data from the RGB and depth images to create a three-dimensional map of the environment. This map can be used for various applications such as navigation and object recognition. The algorithm is tested on a dataset of indoor environments and the results show that it can accurately create a three-dimensional map of the environment.