We propose a method to recover 3-dimensional shape of an object rotating on a turntable. A spatio-temporal image is made of the sequential images taken by a single camera. Then, the trajectories, which correspond to the 3-D points on the surface, are extracted in the spatio-temporal image by using “weighted voting” of all intensity values on a constrained surface. Since the method consequently utilize intensity information as it is, the method can recover dense 3-D positions compared with the one using feature extraction and tracking. In addition, it can recover concave shapes unlike the one using silhouettes of the object. The experimental results with real images have shown the effectiveness of our method.