Abstract: At a method and device for capturing the three-dimensional surface geometry of an object, with at least one sensor and at least one light source, the sensor is a monochrome sensor and the method includes: a) obtaining a first multidimensional information of the object including a first pose, using the monochrome sensor; b) illuminating the object by the light source in a first color; c) taking a monochrome image of the illuminated object, using the monochrome sensor; d) creating a second multidimensional information of the object including a second pose, using the monochrome sensor; e) combining the first and second pose of steps a) and d) to create an intermediate pose; f) combining the monochrome image of step c. and the intermediate pose of step e) to create a colored model of at least a segment of the object.