This paper deals with the problem of smoothing and modeling of range images obtained using laser 3 D scanner.Heavy errors,existing in the range images,would entail many problems on post processing.An automaitc method,based on multiresolution wavelet analysis,for range image smoothing is proposed.The smoothed range image retains original details.A structured modeling method for range images is also introduced,which makes use of the topology information provided by the range images,and a triangle mesh is used to approximate the object surface.Examples show the efficiency of our methods.