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This paper describes the effective way for reconstructing the geometry of a 3D object with a time-of-flight (TOF) camera. These TOF cameras can provide the range information and the 3D coordinates of the object in real time. The range information is obtained by estimating the runtime of the light which is emitted, reflected by the object and received by the camera unit. We also describe a simple approach to calibrate the camera's range data with respect to the object distance. These measured range data is also compared with the manufactures data. The proposed algorithm uses the range information and the camera specification data for the geometrical representation of the object. These range data are also utilised to separate the object from the background. The algorithm uses the depth data of all the pixels of the camera and stores in the form of matrix array to extract the object information. Using suitable mathematical approach, the technique converts the range values into 2D & 3D image representation of the object. Experimental results are presented to demonstrate the utility of this technique.