"Voyager" special effect shots were done with both miniatures and CGI. The miniature shots of the "Voyager" model were used as a benchmark to improve the CGI shots. Two different computer models were developed from the physical model by two different companies that scanned it, Amblin Imaging and Foundation Imaging. Amblin won an Emmy for "Voyager" opening CGI title visuals featuring USS "Voyager" passing through space, but the weekly episode exteriors were captured with hand-built miniatures of "Voyager". By late 1996 (midway through season three), certain exterior shots were fully CGI. Another challenge of the design was coordinating the interior set design with exterior shots, in particular the location of key rooms and the design of windows. These were important, for example, in shots that crossed over from outside the spacecraft to inside the spacecraft in one filming shot.