A scanner for characterizing a refractory lining in a container , the scanner comprising: a frame ; a laser scanning system mounted on the frame , said laser scanning system having a laser, a scanner, optics, a photodetector, and receiver electronics, said laser scanning system being configured to measure distances from the laser scanning system to a plurality of points on a surface of the refractory lining ; a robotic vehicle attached to the frame , said robotic vehicle having a controller and a drive system comprising wheels or tracks , said robotic vehicle being configured for motion on a floor to propel the scanner autonomously in an area adjacent to the container from a first position to a second position along the floor; and a control system comprising hardware and software to control the scanner , said control system being communicatively connected to said laser scanning system , said controller, and said drive system, wherein the refractory lining is characterized by comparing the plurality of distances measured by the laser scanning system to a reference surface of the refractory lining , the scanner further comprising a range finder mounted on the frame and communicatively connected to said control system, said range finder being configured to measure a position of the autonomous scanner relative to a position of the container using a rotating laser beacon and each positional angle between the rotating laser beacon and at least three reflectors placed in a surrounding of the scanner , wherein said control system is configured to avoid obstacles in a path of the scanner using range measurements made by the range finder . a frame ; a laser scanning system mounted on the frame , said laser scanning system having a laser, a scanner, optics, a photodetector, and receiver electronics, said laser scanning system being configured to measure distances from the laser scanning system to a plurality of points on a surface of the refractory lining ; a robotic vehicle attached to the frame , said robotic vehicle having a controller and a drive system comprising wheels or tracks , said robotic vehicle being configured for motion on a floor to propel the scanner autonomously in an area adjacent to the container from a first position to a second position along the floor; and a control system comprising hardware and software to control the scanner , said control system being communicatively connected to said laser scanning system , said controller, and said drive system, wherein the refractory lining is characterized by comparing the plurality of distances measured by the laser scanning system to a reference surface of the refractory lining , the scanner further comprising a range finder mounted on the frame and communicatively connected to said control system, said range finder being configured to measure a position of the autonomous scanner relative to a position of the container using a rotating laser beacon and each positional angle between the rotating laser beacon and at least three reflectors placed in a surrounding of the scanner , wherein said control system is configured to avoid obstacles in a path of the scanner using range measurements made by the range finder . <EOS>