The invention provides a free-moving type three-dimensional scanning method, belongs to the field of optical detection, and relates to a full three-dimensional skeleton surveying method, a handheld measuring device and a multi-angle splicing method based on texture, the curvature of surface and normal directions. Mobile handheld high-precision three-dimensional scanning is a problem of the scanning field, according to the free-moving type three-dimensional scanning method, a three-frequency color fringe
projection method is utilized to project three-frequency color fringes of 1 : 4 :12 to the surface of a tested object through a projection device, and a camera is used for shooting a deformed
fringe pattern in a single-frame
exposure mode. On one hand, a three-frequency
phase unwrapping method is adopted by the deformed
fringe pattern to calculate out high-frequency carrier frequency to unwrap a phase, and
system calibration parameters are used for obtaining a three-dimensional
point cloud of the tested object; on the other hand, a texture pattern of the surface of the tested object can be recovered through the deformed
fringe pattern. Handheld scanning has a higher requirement for multi-angle splicing, and by means of the free-moving type three-dimensional scanning method, non-mark splicing of multi-angle point clouds is achieved according to the
color texture characteristics, measurement of the curvature of surface and restraint of the normal directions.