A method and a system for obtaining an object three-dimensional model are disclosed. The invention is applicable to the technical field of three-dimensional visualization and provides a method for generating a three-dimensional object model. The method comprises a step of obtaining the information of the color image and collected by a camera, a step of removing a plane and downsampling, a step of selecting a random sample point and a computer descriptor, a step of carrying out model preprocessing, calculating a model descriptor and filling the descriptor into a hash table, a step of determining a matching area of inputting 3D data and a 3D object model, a step of using the 3D model data to fill the missed and fuzzy points in the matching area, a step of using the 3D model data to extrapolate an area which can not be observed, and a step of obtaining a complete 3D model with high precision. According to the method and the system, the object three-dimensional model can be rapidly and automatically established, a known data structure is directly obtained, the subsequent analysis and measurement are facilitated, even a noise or partial scan information exists, a fully formed 3D model can be outputted always, and the method and the system are suitable for a moving object.