Reverse engineering is the process of creating a design model and a manufacturing database for an existing part or prototype. The applications of reverse engineering are in redesigning of existing partstools or prototype parts where the CAD model of the part is not available. Reverse engineering, for the most part, is performed as an interactive process where the designer identifies the surface features from digitized data and then models the surfaces accordingly. This paper presents the algorithms and implementation results for a reverse engineering system which is intended to automatically create CAD representations of part prototypes. An integrated sensory system combining contact and non-contact sensors has been developed to digitize parts surfaces. The sensory system fuses data from machine vision and a coordinate measuring machine (CMM) in order to automatically digitize the part surface. Machine vision is used to capture the orthographic views of the part. The images of these orthographic views are processed and vectorized to create five views of the part in the form of an engineering drawing. The system utilizes the generated orthographic projections to automatically drive the CMM to capture a grid of point coordinates from the part surface. The CMM digitization process is guided by the segmentation provided from the orthographic views. The segmented data from the part surface is input to the surface modeling module of the system where parametric surfaces are fitted through the digitized points. The surfaces are then extended and intersected using the Hermite approximation method to develop the 3-D CAD model of the part. Accuracy and automation is achieved by combining global shape information obtained from part images with the accurate point data acquired by a CMM. Algorithms for surface segmentation, part digitization, surface extension, and surface intersection modeling are described in this paper.