1. A machine-readable storage medium carrying one or more sequences of instructions which, when executed by one or more processors, cause the one or more processors to carry out a method of collecting depth and image data of an environment and objects in the environment, the method comprising: receiving first time-indexed depth data from a first data capture device comprising a first depth camera, the first time-indexed depth data comprising a first series of distance measurements over a period of time from the first depth camera to first surfaces of an object; receiving second time-indexed depth data from a second data capture device comprising a second depth camera, the second time-indexed depth data comprising a second series of distance measurements to second surfaces of an object over the period of time from the second depth camera; receiving first location data of the first data capture device during the period of time; receiving second location data of the second data capture device during the period of time; receiving relative location data indicating how the first data capture device and the second data capture device are located relative to each other; associating, based on the first location data, the second location data, and the relative location data, the first time-indexed depth data and the second time-indexed depth data with coordinates in a coordinate system; and storing, to an electronic memory, time-indexed three dimensional (3D) depth data comprising the first time-indexed depth data and the second time-indexed depth data with the associated coordinates.