1. A method for 3-Dimensional scanning, the method comprising: generating a plurality of depth images when one of a depth sensor and an object rotates with respect to each other; and 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.