A procedure is described by which a model can be generated automatically from multiple range and intensity images of an object. The procedure extracts feature points from a series of images, determines corresponding points in various views, and transforms (rotates and translates) all extracted points to a single frame of reference. Use of points allows both efficient solution for transformations and compact coding of many types of features. However, once the transformations between views have been determined, all original data can be brought into a single frame of reference as desired to generate many different models. An implementation which constructed models of several relatively simple objects is described in detail. Although both random and systematic errors are present in range and intensity data, the procedure and algorithms are sufficiently robust to overcome these deficiencies. Uncertainty in final models was on the order of 1mm (1% of object size), approximately the same as the average deviation of the range data. Limitations are discussed, as well as applications in object recognition, CAD/CAM, and computer graphics.