A method of creating a 3-D model by capturing partial 3-D models each comprising a sequence of 2-D images, analyzing each of the partial 3-D models to identify image features in the sequence of 2-D images of each of the partial 3-D models, identifying pairs of overlapping image features between the 2-D mages of each of the partial 3-D models by identifying image features in each 2-D image in the sequence of 2-D images of each of the partial 3-D models that overlaps image features in 2-D images of the sequence of 2-D images of the other partial 3-D models and selecting a 2-d image from each of the partial 3-D models, computing an initial transformation between 3-D coordinates of individual pairs of identified image features between the selected 2-D image from each of the partial 3-D models; and generating a final 3-D model based on the initial transformation.
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