The invention relates to a method and device for optical scanning of three-dimensional objects by means of a handheld dental 3D camera (1) using a triangulation method, in which a 3D data set (10) is determined from a plurality of images (30) of a pattern (3) projected on the object (2), which images form a scanning sequence. The pattern (3) has a brightness distribution with periodic phasing (40, 41, 42, 43, 44). In the present invention, at least two images (30) of the pattern (3) projected on the object (2) are recorded for the purpose of determining the camera shake of the 3D camera (1), at least one of these images (30) forming part of the scanning sequence. By means of a camera shake analyzing unit (4) for determination of the camera shake of a handheld 3D camera (1), at least one comparative signal (45, 46, 47) is formed by division or subtraction of the at least two individual images (30) and a camera shake index (50) is computed from this at least one comparative signal (45, 46, 47). Alternatively, the camera shake can be visualized by means of a high-contrast image (12) produced by means of a camera shake analyzing unit (4) from at least two comparative signals (45, 46, 47).
