Described are embodiments of methods of obtaining three-dimensional (3D) surface data of an object scene such as an intra-oral cavity. For example, measured surfaces may include the enamel surface of teeth, the dentin substructure of teeth, gum tissue and various dental structures. The methods can also be applied in medical applications and other applications in which 3D measurement data are acquired with maneuverable 3D measurement devices. In certain embodiments, the measurement device is positioned and translated to enable 3D data to be acquired for a backbone 3D data set. Subsequent controlled motion of the measurement device enables additional 3D data to be acquired and accurately joined to the backbone 3D data set.