Development in the field of mobile robots has increased exponentially in the last couple of years. They have become compact, robust, highly maneuverable and are able to carry a wide variety of sensors and equipment. However, most commercial implementations of mobile robots occur either outdoors with the help of signals such as GPS or require a priori knowledge of the indoor environment. In this project, we aim to develop a methodology that will assist in exploration and navigation of indoor environments using RGB-D images. The proposed method will generate 2D maps for the exploration and navigation as well as generate 3D models of the mapped environment.