1. A method for reconstructing a physical space, comprising: obtaining a plurality of images of the physical space using a camera carried by a rig while the rig moves in the physical space through a plurality of poses; determining an orientation and a coordinate system of each pose; partitioning the physical space into a plurality of volumes; for each volume of the plurality of volumes, obtaining a depth map of the physical space using a depth sensor carried by the rig; providing a pose graph comprising a plurality of nodes and links between the nodes, each node being associated with one of the poses, one of the images associated with the one of the poses and one of the coordinate systems associated with the one of the poses, and the links defining correspondences between the images and transforms between the coordinate systems; for each volume, anchoring the volume to one of the nodes; updating a state of the pose graph as the plurality of images are obtained, the updating comprising updating one or more of the nodes and one or more of the links; and reconstructing a surface in one or more of the volumes according to the state of the pose graph.