A three-dimensional sensor system comprising: a pattern projector configured to project at least two light planes, PLj, wherein j>=2 a first camera configured to capture a first two-dimensional image on a first photosensitive element plane (PF 1), a second camera configured to capture a second two-dimensional image on a second photosensitive element plane (PF 2), wherein internal and external parameters of the first and second cameras (520, 530) are known, a two-dimensional image feature extractor, a three-dimensional point-cloud generator, and a three-dimensional point-cloud verifier, wherein the two-dimensional image feature extractor is configured to obtain a two-dimensional point set {Pai | 1 ≤ i ≤ n} on a two-dimensional line (SA 1) on the first two-dimensional image, the three- dimensional point- cloud generator is configured to intersect the extension line of the connection lines between the two- dimensional point set and the photocenter (O 1) of the first camera, with each of the j light planes based on the triangulation principle, to obtain j candidate three- dimensional point sets {P ji | i<=j<=n, j>=2}, the three-dimensional point-cloud verifier is configured to: connect each point in the candidate three-dimensional point sets to a photocenter (Oz) of the second camera respectively, wherein the connection lines intersect with the second photosensitive element plane (PF 2) of the second camera at points {P bji | 1<=i<=n, j >=2} record the location relationships between each subset P bji and the j two-dimensional lines (SB 1, SB 2,...SB j) detected on the second image, determine a sum of distances between each point in the subset P bji associated with the light plane PLj and a certain two-dimensional line SB k, for every k= 1, 2,..j, determine the line (SB m) for which the minimum value of the sum of distances is obtained, and determine the three-dimensional point set P ji on the light plane PLj as an authentic three-dimensional point set corresponding to the two-dimensional line (SA 1) on the first two-dimensional image and the two-dimensional line (Sb m) on the second two-dimensional image. a pattern projector configured to project at least two light planes, PLj, wherein j>=2 a first camera configured to capture a first two-dimensional image on a first photosensitive element plane (PF 1), a second camera configured to capture a second two-dimensional image on a second photosensitive element plane (PF 2), wherein internal and external parameters of the first and second cameras (520, 530) are known, a two-dimensional image feature extractor, a three-dimensional point-cloud generator, and a three-dimensional point-cloud verifier, wherein the two-dimensional image feature extractor is configured to obtain a two-dimensional point set {Pai | 1 ≤ i ≤ n} on a two-dimensional line (SA 1) on the first two-dimensional image, the three- dimensional point- cloud generator is configured to intersect the extension line of the connection lines between the two- dimensional point set and the photocenter (O 1) of the first camera, with each of the j light planes based on the triangulation principle, to obtain j candidate three- dimensional point sets {P ji | i<=j<=n, j>=2}, the three-dimensional point-cloud verifier is configured to: connect each point in the candidate three-dimensional point sets to a photocenter (Oz) of the second camera respectively, wherein the connection lines intersect with the second photosensitive element plane (PF 2) of the second camera at points {P bji | 1<=i<=n, j >=2} record the location relationships between each subset P bji and the j two-dimensional lines (SB 1, SB 2,...SB j) detected on the second image, determine a sum of distances between each point in the subset P bji associated with the light plane PLj and a certain two-dimensional line SB k, for every k= 1, 2,..j, determine the line (SB m) for which the minimum value of the sum of distances is obtained, and determine the three-dimensional point set P ji on the light plane PLj as an authentic three-dimensional point set corresponding to the two-dimensional line (SA 1) on the first two-dimensional image and the two-dimensional line (Sb m) on the second two-dimensional image. connect each point in the candidate three-dimensional point sets to a photocenter (Oz) of the second camera respectively, wherein the connection lines intersect with the second photosensitive element plane (PF 2) of the second camera at points {P bji | 1<=i<=n, j >=2} record the location relationships between each subset P bji and the j two-dimensional lines (SB 1, SB 2,...SB j) detected on the second image, determine a sum of distances between each point in the subset P bji associated with the light plane PLj and a certain two-dimensional line SB k, for every k= 1, 2,..j, determine the line (SB m) for which the minimum value of the sum of distances is obtained, and determine the three-dimensional point set P ji on the light plane PLj as an authentic three-dimensional point set corresponding to the two-dimensional line (SA 1) on the first two-dimensional image and the two-dimensional line (Sb m) on the second two-dimensional image.