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The current recognition algorithms based on 3D visual information can increase their efficiency including additional information sources. Actually, this scheme of multisensory information merger can be implemented with the most diverse and innovative data acquisition devices. In this sense, the aim of this project is to improve and evolve 3D recognition methods with the use of a labeling wisely universe using ubiquitous computing. The proposal represents an evolution of the previous works done by the applicant team in the area of sensorial fusion in which the vision algorithms relied solely on self-identification information from the objects in the scene via radio waves. The project is divided into the dual path definition, development and exploitation of new models coming three-dimensional mesh of 3D visual sensors, to the exploration selection and integration of new sources of information from smart tags through ubiquitous technology. The ultimate goal is to devise new models of 3D meshes incorporating relevant information configurable and adjustable labelling in the world you want to drive. As a demonstration of the usefulness and applicability of the project, in the final phase of the same environment will develop a pilot application system SIVi3D issues of practical interest such as safety or operation of robotic systems in a world labelling. .