Method for the three-dimensional characterization of an object, comprising: - providing the object, - acquiring distance data comprising: ∘ for at least two different measurement planes (81, 82), each measurement plane being equipped with at least three distance sensors (71, 72) surrounding the object, and ∘ for each distance sensor (71; 72) of each measurement plane (81; 82), measuring an item of distance data representative of a distance between an external surface of the object and this distance sensor (71; 72) measured in the measurement plane (81; 82) of the sensor, - repeating the acquisition of distance data for several values of rotation of the object about an axis of rotation with respect to a distance frame of reference in which the distance sensors (71, 72) are fixed, - for each measurement plane (81; 82), obtaining data representative of a contour line of the object from the distance data measured by all the sensors (71; 72) of this measurement plane and for different values of rotation of the object about its axis of rotation, the contour line being contained within this measurement plane (81; 82), said obtaining of data representative of a contour line comprising taking into account a variation of inclination and/or of translation of the axis of rotation in the distance frame of reference during acquisitions of distance data, - for each measurement plane (81; 82) among at least one of the measurement planes, acquiring, using an image sensor (151; 152), a three-dimensional image of one face of the object, this measurement plane (81; 82) being imaged on this three-dimensional image, and repeating this image acquisition for several values of rotation of the object about its axis of rotation facing this image sensor (151; 152) in an image frame of reference in which the image sensor (151; 152) is fixed, - for each measurement plane (81; 82) having been the subject of the acquisition of three-dimensional images, stitching different three-dimensional images acquired for this measurement plane (81; 82), so as to obtain three-dimensional data of a contour surface of the object, the stitching comprising a definition of relative positions of the different images by means of the data representative of the contour line contained in this measurement plane (81; 82). - providing the object, - acquiring distance data comprising: ∘ for at least two different measurement planes (81, 82), each measurement plane being equipped with at least three distance sensors (71, 72) surrounding the object, and ∘ for each distance sensor (71; 72) of each measurement plane (81; 82), measuring an item of distance data representative of a distance between an external surface of the object and this distance sensor (71; 72) measured in the measurement plane (81; 82) of the sensor, ∘ for at least two different measurement planes (81, 82), each measurement plane being equipped with at least three distance sensors (71, 72) surrounding the object, and ∘ for each distance sensor (71; 72) of each measurement plane (81; 82), - repeating the acquisition of distance data for several values of rotation of the object about an axis of rotation with respect to a distance frame of reference in which the distance sensors (71, 72) are fixed, - for each measurement plane (81; 82), obtaining data representative of a contour line of the object from the distance data measured by all the sensors (71; 72) of this measurement plane and for different values of rotation of the object about its axis of rotation, the contour line being contained within this measurement plane (81; 82), said obtaining of data representative of a contour line comprising taking into account a variation of inclination and/or of translation of the axis of rotation in the distance frame of reference during acquisitions of distance data, - for each measurement plane (81; 82) among at least one of the measurement planes, acquiring, using an image sensor (151; 152), a three-dimensional image of one face of the object, this measurement plane (81; 82) being imaged on this three-dimensional image, and repeating this image acquisition for several values of rotation of the object about its axis of rotation facing this image sensor (151; 152) in an image frame of reference in which the image sensor (151; 152) is fixed, - for each measurement plane (81; 82) having been the subject of the acquisition of three-dimensional images, stitching different three-dimensional images acquired for this measurement plane (81; 82), so as to obtain three-dimensional data of a contour surface of the object, the stitching comprising a definition of relative positions of the different images by means of the data representative of the contour line contained in this measurement plane (81; 82).