Embodiments of the present invention may include a method for printing three-dimensional objects, layer by layer utilizing an optimized scheme of predefined passes for each layer based on considerations related to both throughput and quality of printing. Embodiment of the invention may include generating a scanning plan for a layer such that the accumulated length for all the scanning passes in the layer is minimized. The optimization scheme may be performed based on image data parameters, such as sizes, locations, dimensions and shapes of the imaged areas of the layer.