Build a 3D map with Laser, IMU and Realsense

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I'm using a skid-steering mobile robot with LMS-111 SICK laser, two SICK wheels encoders, a xsens MTi-20 IMU and a Intel RealSense R200 camera and I would like to know if it is possible to fuse all these sensors data to build a 3D map.

I'm able to build 2D maps by using hector_mapping and laser sensors or RVIZ with the RealSense R200 camera sensor, but I would like to know if I can use all of my sensors to build a 3D map. Is there any ROS package which I can use?

I tried to look at octomap, but I didn't understand if it can be good for my research.

Thank you