3D scanners developed over the past several decades have facilitated the reconstruction of complicated engineering parts. Typically the boundary representation of a part is reconstructed from its scanned cloud of points. This approach, however, is still limited and cannot be applied to a family of objects such as thin parts. Recently, new 3D scanning devices have been developed. These devices capture additional information, such as normals and texture, as well as conventional information, including clouds of sampled points. This paper describes a new and fast reverse engineering method for creating a 3D computerized model from data captured by contemporary 3D scanning devices. The proposed method aggregates large-scale 3D scanned data into an extended Hierarchical Space Decomposition Model (HSDM) based on Octree data structure. This model can represent both an object’s boundary surface and its interior volume. Based on the proposed volumetric model, the surface reconstruction proces...