A method for 3-Dimensional scanning includes generating a plurality of depth images when a depth sensor rotates around an object. The method further includes, for each depth image: estimating a rotation (R) and a translation (T) for each depth image, using data of a Truncated Signed Distance Function (TSDF) volume; and fusing each depth image accumulatively into the TSDF volume based on the estimated R and T. An apparatus for 3-Dimensional scanning includes a depth sensor configured to generate a plurality of depth images when rotating around an object. The apparatus further includes a processor configured to, for each depth image: estimate a rotation (R) and a translation (T) for each depth image, using data of a Truncated Signed Distance Function (TSDF) volume; and fuse each depth image accumulatively into the TSDF volume based on the estimated R and T.