Abstract: A first and a second, distinguishable set of images are projected onto a surface, each image having a corresponding source element with known two-dimensional coordinates relative to the projector. A pose is determined of spaced two cameras in position to image at least a portion of the surface. The three-dimensional coordinates of at least some of the first set of images are determined with the cameras, from which are calculated an initial pose of the projector. Each of the at least some of the first set of images are matched with a corresponding source element, from which matching an improved projector pose is determined. The three-dimensional coordinates of at least some of the second set of images are determined using the improved projector pose and the cameras, and the surface is characterized from the three-dimensional coordinates of the first and the second set of images.