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This paper presents the complete 3D and color wound assessment tool, designed using a simple freely handled digital camera inside the ESCALE project. Combining a 3D model of the captured wound images using uncalibrated vision techniques with unsupervised tissue segmentation, it gives access to enhanced tissue classification and measurement. As a result, the tissue classification is directly mapped on the mesh surface of the wound to measure real tissue growth and changes. Clinical tests demonstrate that the monitoring of the healing process is very accurate compared to single view analysis.