Models are the basis of every simulation and therefore the basis of almost every eRobotic application. They have to reproduce the viewed scenario in sufficient detail and accurately. However the creation of these models often constitutes a big challenge. This is applicable to the modelling of robot work cells in industrial projection, as much as it is to the reproduction of landing sites for exploration robots or to forests as a “timber production facilities”. One focal point of the work of MMI lies in the area of “semantic modelling of the environment”. The objective here is the development of efficient processes for detailed models to be deduced. These reproduce systems and their areas of implementation with all the necessary components and characteristics from geometry to materials and masses, all the way through to movement capacities or special characteristics, e.g. tree heights and diameters, in a detailed and precise manner. Advanced CAD methods are deployed, as are new methods of remote sensing.