A method and system for generating a three-dimensional scan of an object using a handheld scanner is disclosed. The method involves obtaining images of the object from a successive plurality of handheld scanner positions with respect to the object, and processing the images to generate a respective 3D frame for each of the plurality of handheld scanner positions. Each 3D frame includes data representing locations of a plurality of 3D points on a surface of the object. The method further involves comparing each successive 3D frame with at least one preceding 3D frame, determining whether a result of the comparison meets a correspondence criterion associated with generation of a 3D representation of the surface of the object, and initiating a recovery process when the correspondence criterion is not met.
