A three-dimensional sensor system comprising: at least one pattern projector configured to project at least two linear patterns simultaneously; a first, second and third camera (410, 420, 430) configured to capture a respective two-dimensional image (411, 421, 431) of a scanned object simultaneously; a two-dimensional image feature extractor configured to extract a two-dimensional line set of the at least two linear patterns on a surface of the scanned object on each two-dimensional image (411, 421, 431); for each point (Pa i) of each line (SA 1) of the two-dimensional line set on the image of the first camera, a three-dimensional point-cloud generator is configured to: determine a three-dimensional line connecting the optical center (O 1) of the first camera to the point (Pai); project the three-dimensional line to the two-dimensional image of the second camera to obtain an epipolar line (N 3) in that image; determine the intersection points (Pb 1i, Pb 2i, Pb 3i) of the epipolar line (N 3) with each line of the two-dimensional line set in the image of the second camera; and generate a candidate three-dimensional point set (P 1i, P 2i, P 3i) defined by the intersections of the three-dimensional line with the three-dimensional lines connecting the optical center (O 2) of the second camera with each of the intersection points (Pb 1i, Pb 2i, Pb 3i); and a three-dimensional point-cloud verifier configured to: connect each point of the candidate three-dimensional point set (P 1i, P 2i, P 3i) to the optical center (O 3) of the third camera; and determine the intersection (Pc 1i, Pc 2i, Pc 3i) of each connection line to the image of the third camera; wherein, on the basis of distances between the intersection (Pc 1i, Pc 2i, Pc 3i) and a two-dimensional line of the two-dimensional line set on the two-dimensional image shot by the third camera, the three-dimensional point-cloud verifier is further configured to select a subset of the candidate three-dimensional point set corresponding to a minimum distance value as the authentic three-dimensional point set (P mi). at least one pattern projector configured to project at least two linear patterns simultaneously; a first, second and third camera (410, 420, 430) configured to capture a respective two-dimensional image (411, 421, 431) of a scanned object simultaneously; a two-dimensional image feature extractor configured to extract a two-dimensional line set of the at least two linear patterns on a surface of the scanned object on each two-dimensional image (411, 421, 431); for each point (Pa i) of each line (SA 1) of the two-dimensional line set on the image of the first camera, a three-dimensional point-cloud generator is configured to: determine a three-dimensional line connecting the optical center (O 1) of the first camera to the point (Pai); project the three-dimensional line to the two-dimensional image of the second camera to obtain an epipolar line (N 3) in that image; determine the intersection points (Pb 1i, Pb 2i, Pb 3i) of the epipolar line (N 3) with each line of the two-dimensional line set in the image of the second camera; and generate a candidate three-dimensional point set (P 1i, P 2i, P 3i) defined by the intersections of the three-dimensional line with the three-dimensional lines connecting the optical center (O 2) of the second camera with each of the intersection points (Pb 1i, Pb 2i, Pb 3i); and determine a three-dimensional line connecting the optical center (O 1) of the first camera to the point (Pai); project the three-dimensional line to the two-dimensional image of the second camera to obtain an epipolar line (N 3) in that image; determine the intersection points (Pb 1i, Pb 2i, Pb 3i) of the epipolar line (N 3) with each line of the two-dimensional line set in the image of the second camera; and generate a candidate three-dimensional point set (P 1i, P 2i, P 3i) defined by the intersections of the three-dimensional line with the three-dimensional lines connecting the optical center (O 2) of the second camera with each of the intersection points (Pb 1i, Pb 2i, Pb 3i); and a three-dimensional point-cloud verifier configured to: connect each point of the candidate three-dimensional point set (P 1i, P 2i, P 3i) to the optical center (O 3) of the third camera; and determine the intersection (Pc 1i, Pc 2i, Pc 3i) of each connection line to the image of the third camera; wherein, on the basis of distances between the intersection (Pc 1i, Pc 2i, Pc 3i) and a two-dimensional line of the two-dimensional line set on the two-dimensional image shot by the third camera, the three-dimensional point-cloud verifier is further configured to select a subset of the candidate three-dimensional point set corresponding to a minimum distance value as the authentic three-dimensional point set (P mi). connect each point of the candidate three-dimensional point set (P 1i, P 2i, P 3i) to the optical center (O 3) of the third camera; and determine the intersection (Pc 1i, Pc 2i, Pc 3i) of each connection line to the image of the third camera; wherein, on the basis of distances between the intersection (Pc 1i, Pc 2i, Pc 3i) and a two-dimensional line of the two-dimensional line set on the two-dimensional image shot by the third camera, the three-dimensional point-cloud verifier is further configured to select a subset of the candidate three-dimensional point set corresponding to a minimum distance value as the authentic three-dimensional point set (P mi).