We describe a technique for reconstructing probable occluded surfaces from 3-D range images. The technique exploits the fact that many objects possess shape symmetries that can be recognized even from partial 3-D views. Our approach identifies probable symmetries and uses them to extend the partial 3-D shape model into the occluded space. To accommodate objects consisting of multiple parts, we describe a technique for segmenting objects into parts characterized by different symmetries. Results are provided for a real-world database of 3-D range images of common objects, acquired through an active stereo rig.