An optical noncontact 3-D range scanner based on projection of 2-D structured light patterns and multiplexed charge injection device (OlD) camera sensors is developed. The system acquires scan data in 0.75 s and allows 360-deg examination of the object. The resultant 3-D surface data is suitable for computer graphics display and manipulation, numerically controlled replication, and for further processing such as surface measurement extraction. The scanner uses a set of six stationary sensors placed around the object to be scanned. A sensor consists of a pattern projector and a solid state video camera. The projectors are sequenced by a module called the video acquisition and control unit (VAU). This complex system must be accurately calibrated for seamless merging of overlapped surfaces obtained from different cameras. The calibration considerations in such a system are discussed. The calibration is accomplished using statistical parameter estimation algorithms. Known reference objects are used in the calibration procedure.