Depth maps of a physical space are obtained using a depth sensor carried by a rig such as a robot or a head mounted display device worn by a user. Visible light images are also obtained. The images and orientation readings are used to create a pose graph which includes nodes connected by links. The nodes are associated with different poses of the rig and the corresponding images. Links between the nodes represent correspondences between the images, and transforms between coordinate systems of the nodes. As new images are captured, the pose graph is updated to reduce an accumulation of errors. Furthermore, surfaces in the physical space can be reconstructed at any time according to the current state of the pose graph. Volumes used in a surface reconstruction process are anchored to the nodes such that the positions of the volumes are adjusted as the pose graph is updated.
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