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This approach performs poorly during buckling and when material properties change with time, and is untenable for shape\u2010changing robots that don't have a well\u2010defined resting (unactuated) shape. Herein, these limitations are overcome using stretchable shape sensing (S3) sheets that fuse orientation measurements to estimate 3D surface contours without making assumptions about the underlying robot geometry or material properties. The S3 sheets can estimate the shape of target objects to an accuracy of \u22483\u2009mm for an 80\u2009mm long sheet. The authors show the S3 sheets estimating their shape while being deformed in 3D space and also attached to the surface of a silicone three\u2010chamber pneumatic bladder, highlighting the potential for shape\u2010sensing sheets to be applied, removed, and reapplied to soft robots for shape estimation. Finally, the S3 sheets detecting their own stretch up to 30% strain is demonstrated. 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