In this paper we consider the problem of developing service robots - robots to carry out chores in domestic, industrial environments, etc. An important ability of such robots will be to recognize objects within their work environment. Service robots would also require knowledge of the 3D shape of the objects they are to interact with. We propose a technique to explore a novel environment, classes objects within the environment and model their 3D shape. We opt to implement this technique using multiple cooperative robots. Our aim is to develop an approach to coordinate a team of robots that is optimal in terms of efficiency and of the accuracy of the map created and of the objects classed and modeled.