Abstract: A device for detecting the geometrical shape of measurement objects with a computer, a 3D sensor and an object carrier for fixing the measurement object. The computer combines the measurements recorded by a 3D sensor. The image registration is improved by using an areally operating 3D sensor. An adjusting device is used to move the measurement object rather than the 3D sensor. The object carrier is adjustable in a manually guided manner about a plurality of linear axes and/or rotation axes by the adjusting device with position transmitters that forward their positions to the computer in the event of a measurement. The computer is set up for calculating, with the aid of suitable software, the position of the measurement object from the positions of the position transmitters and the positions of the axes relative to the 3D sensor.