This paper proposes a new measurement system for building the entire 3-D surface model from a number of range data. This system uses a small moving rangefinder attached to an elbow-shaped digitizer. In the system, it is possible to mergefree-form surfaces caputured from arbitrary viewing directions and to reduce occluded areas. In order to reduce them, this system obtains several small patches of range data from multiple views using the moving small rangefinder hold by manuually. Forbuilding the complete surface model, those range data need to be accurately merged. This paper introduces an argorithm for merging multiple range data in voxel space. A simulation and experimental measurements with a prototype system showed good entire 3-D surface model of natural objects.