Deploying rescue workers in an urban setting is often a perilous, time-, power-, and force-consuming job, and systems to assist in this effort are needed. A fundamental task for rescue is to localize injured persons. To this end, robotic systems are used for mapping a site and for remote inspection of suspicious objects. The mobile robot Kurt3D is the first rescue robot that is capable of mapping its environment in 3D and self localize in all six degrees of freedom, i.e., considering its x, y and z positions and the roll, yaw and pitch angles.