We present the last results obtained by using our Imaging Topological Radar (ITR), an high resolution laser scanner aimed at reconstruction 3D digital models of real targets, either single objects or complex scenes. The system, based on amplitude modulation ranging technique, enables to obtain simultaneously a shade-free, high resolution, photographic-like picture and accurate range data in the form of a range image, with resolution depending mainly on the laser modulation frequency (current best performance are ~100μm). The complete target surface is reconstructed from sampled points by using specifically developed software tools. The system has been successfully applied to scan different types of real surfaces (stone, wood, alloy, bones) and is suitable of relevant applications in different fields, ranging from industrial machining to medical diagnostics. We present some relevant examples of 3D reconstruction in the heritage field. Such results were obtained during recent campaigns carried out in situ in various Italian historical and archaeological sites (S. Maria Antiqua in Roman Forum, "Grotta dei cervi" Porto Badisco - Lecce, South Italy). The presented 3D models will be used by cultural heritage conservation authorities for restoration purpose and will available on the Internet for remote inspection.