1. A hand-held mobile 3D scanner for scanning a scene comprising: a range sensor that is arranged to sense the location of surface points in the scene relative to the scanner and generate representative location information; a texture sensor that is arranged to sense the texture of each surface point in the scan of the scene and generate representative texture information; a position and orientation sensor that is arranged to sense the position and orientation of the scanner during the scan of the scene by interacting with multiple reference targets located about the scene and generate representative position and orientation information; and a control system that is arranged to receive the information from each of the sensors and generate data representing the scan of the scene.