This paper is an overview of the AVENUE project at Columbia University.
AVENUE's main goal is to automate the site modeling process in urban
environments.  The first component of AVENUE is a 3-D modeling system
which constructs complete 3-D geometric models with photometric texture
mapping acquired from different viewpoints.  The second component is a
planning system that plans the Next-Best-View for acquiring a model of
the site.  The third component is a mobile robot we have built that
contains an integrated sensor suite for automatically performing the
site modeling task.  We present results for modeling buildings in
New York City.