Urban Search and Rescue (USAR) is the emergency response function that deals with the collapse of man-made structures. USAR environments contain concrete rubble, dust and debris, and provide poor lighting conditions. Due to the dangers that USAR rescue workers and their canines face, robots have become of interest in aiding rescue workers in searching. Experiences with robots in USAR missions have shown that a compact 3D sensor for 3D mapping of the environment is beneficial in providing the robot and identified victims’ locations within the structurally unstable environment. This thesis presents the developments of a novel 3D sensory system that provides both 3D and 2D texture information for mapping of cluttered unknown USAR environments. The sensor has been integrated into a robot platform, and experiments conducted to validate its usability in such applications. The experimental results show the potential for using this sensor in USAR robot mission.