Abstract: The invention relates to a method for three-dimensional shape measurement of a body or of a part thereof, in particular of a dental object such as a model, by scanning non-contact distance measurement using an optical sensor device comprising a beam source, where the shape of the body subjects reproducing areas to a beam at various incidence angles (impinging beam), and the reflected beam (measuring beam) is measured, with the body being adjusted relative to the optical sensor device. To permit measurement with high precision of the body and undercuts thereof, without tilting being necessary, it is proposed that for shape measurement of the respectively measured area the beam (measuring beam) reflected therefrom, which describes an angle ? to a surface normal corresponding to the respective area, is taken into account, said angle being equal to or smaller than a predefined critical angle ?GR relative to the surface normal.