This document summarizes an incremental algorithm for computing projections of resultant polytopes. The algorithm uses an oracle that, given a direction vector, computes a vertex of the resultant polytope that is extremal in that direction. It starts with an initial inner approximation of the resultant polytope and incrementally extends facets by calling the oracle until all facets are legal, meaning they support facets of the true resultant polytope. This provides an output-sensitive algorithm that computes only as many triangulations as needed to represent the resultant polytope.