In 3D vision applications, more than just the shape, position and orientation of objects play a role; in many cases, colour information is also crucial. One example of this is a robot vision task with a sorting function for differently coloured parts. This requires depth information to be combined with the real colours of the scene. In this session, we will show how to superimpose the colour information of a 2D RGB camera with the position and depth values of a stereo vision camera and make it usable for Robotics applications.