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.
