This paper presents a method for measuring the entire three dimensional (3D) shape of an object, which is applicable for 3D digitizing into a solid modeler. The method realizes automatic acquisition of the complete surface model of the object without contact. The method employs two range finders and a turntable cooperatively: a range finder and the turntable measure the surface data of the object rapidly, and then another hand-eye range finder finds deficits in the surface data due to self-occlusion, and corrects them. This method realizes sensory fusion in acquisition of range data. Several 3D-shape data provided by two range finders are integrated into voxel data. The voxe representation allows us to handle the entire shape of an arbitrary object. The experimental system based on this method demonstrates the good flexibility and performance of the method for 3D digitizing.