Described are methods that enable rapid automated object classification of measured three-dimensional object scenes. Each method can be performed during a three-dimensional measurement procedure while data are being acquired or after completion of the measurement procedure using the acquired data. In various embodiments, an object scene is illuminated with an optical beam and an image is acquired. In some embodiments, the object scene is illuminated with a structured light pattern and a sequence of images of the object scene illuminated by the pattern at different spatial phases is acquired. Coordinates are determined for points in the one or more images and a translucence value is determined for each of the points. An object class is determined for each point based on the translucence value for the point. Optionally, additional information, such as grayscale or color image data for each point, is used to supplement the object class determination.