Sensor-line cameras have been designed for space missions in the 1980s, and are used for various tasks, including panoramic imaging. Laser range-finders are able to generate dense depth maps (of isolated surface points). Panoramic sensor-line cameras and laser range-finders may both be implemented as rotating sensors, and we used them together this way to reconstruct accurately 3D environments (such as, for example, large buildings). This article reviews related developments, followed by a detailed description of designed calibration and pose estimation techniques which have been used for both rotating sensors. Related experiments evaluate the accuracy of calibrated sensor parameters and of estimated poses.