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The most efficient 3D scanning systems use either the principle of laser triangulation or the principle of time of flight - TOF. In triangulation based systems, the range and depth variation are limited, but they have a great precision. On the other hand the opposite occurs to TOF systems have low precision, great range and depth variation. This work describes a development of a 3D scanning system, with precision and range better than traditional laser triangulation 3D scanners, and also, it is as versatile as TOF systems. A prototype of the proposed system had been implemented and the results are shown.