Photo-realistic 3D modeling is a challenging problem and has been a research topic for many years. Quick generation of photo-realistic three-dimensional calibrated models using a hand-held device is highly desirable for applications ranging from forensic investigation, mining, to mobile robotics. In this paper, we present the instant Scene Modeler (iSM), a 3D imaging system that automatically creates 3D models using an off-the-shelf hand-held stereo camera. The user points the camera at a scene of interest and the system will create a photo-realistic 3D calibrated model automatically within minutes. Field tests in various environments have been carried out with promising results