1. A system for obtaining data representing surface points of an object, said system comprising: a sensing device having a pattern projector for providing a projected pattern on a surface of said object, at least one basic camera for acquiring basic 2D image data representing a basic 2D image of at least a portion of said object at a basic resolution, and a characteristic camera for acquiring characteristic image data representing a characteristic image of at least a portion of said object, said characteristic camera being at least one of a texture camera and a high resolution camera, said texture camera being a camera adapted to capture characteristic texture information about said portion of said object, said high resolution camera being a camera adapted to capture high resolution information about said portion of said object at a high resolution, said high resolution being higher than said basic resolution, said projected pattern being apparent on said basic image, at least part of said projected pattern being apparent on said characteristic image, a spatial relationship of said basic camera, said pattern projector and said characteristic camera in a sensor coordinate system being known, said characteristic camera and said basic camera being synchronized to allow said basic camera and said characteristic camera to respectively capture said basic 2D image data and said characteristic image data simultaneously while said pattern is projected on said surface of said object by said pattern projector; a basic image processor for extracting, from said basic 2D image data, 2D point data representing at least one set of 2D surface points provided from a reflection of said projected pattern on said surface; a 3D surface point calculator for calculating a set of 3D surface points in said sensor coordinate system using said 2D point data representing set of 2D surface points; a characteristic image processor for mathematically projecting said set of 3D surface points onto said characteristic image data to obtain a location of said 3D surface points in said characteristic image data, guiding an extraction of characteristic data for said set of 3D surface points using said projected 3D surface points in said characteristic image data, said guiding including local image processing if said characteristic camera is said high resolution camera and said guiding avoiding interference by said projected pattern on said extracted characteristic data if said characteristic camera is said texture camera, and obtaining, using said characteristic data of said extraction, at least one of a refined position of said 3D surface points if said characteristic camera is said high resolution camera and a texture of said 3D surface points if said characteristic camera is said texture camera.