Dynamic objects lead to errors in the resulting 3D volumetric model with artefacts or misalignments. Misalignments result in an incorrect self localization of the mobile robot. To eliminate these errors, the robot monitors the environment with its other sensors, e.g., the horizonal mounted 2D laser range finders or cameras. If the sensors detect dynamic objects with the method of the differential frames, the robot simply repeats the 3D scan. Data points belonging to dynamic objects are not yet isolated and removed.