Sensor　planning　is　a　critical　issue　since　a　typical　3-D　sensor　can　only　sample　a　portion　of　an　object　at　a　single　viewpoint.　The　primary　focus　of　the　research　described　in　this　paper　is　to　propose　a　new　method　of　creating　a　complete　model　of　free-form　surface　object　from　multiple　range　images　acquired　by　a　scan　sensor　at　different　space　poses.　Candidates　for　the　best-next-view　position　are　determined　by　detecting　and　measuring　occlusions　to　the　camera＇s　view　in　an　image.　Ultimately,　the　candidate　which　obtains　maximum　visible　space　volume　is　selected　as　the　Next-best-view　position.　The　experimental　results　show　that　the　method　is　effective　in　practical　implementation.