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Proposes a 3D dynamic image reconstruction method based on the fusion of data from sequences of range and intensity images. The vision system acquires both images of the scene at each time instance. We use a line segment description of the objects of the scene, and more precisely a point representation of the segment described by its extremities. The detailed solution to this estimation problem lies in a global filter that matches the segments through the range/intensity image sequences and fuses both data to recover the 3D structure and motion of an object. The method performs well on synthetic image sequences from two sensors and is now being applied to an experimental sequence of an object evolving according to a rotation/translation motion. The scene is viewed by a range camera which delivers a range image and an intensity (reflectance) image.