This paper presents a methos of 3D measurement using a newly developed device that acquires 3D range data and surface color data at the same time. Roughly speaking, for the recognition and synthesis of various objects, two kinds of data are used: 3D shape (range) data and texture (color) data. Usually, these two data types are measured separately, using different kinds of acquisition systems. Typically, range finders are used to measure the 3D shape of objects, and color television cameras are popular to acquire the surface colore. Due to the delay between the two measurements, it is sometimes difficult to match the two data sets, especially in the case of changeable objects like human faces. Moreover, camera angles and lighting conditions may differ in each measurement. Though adjustment may be possible to some extent, acquiring fully synchronized, consistent data for 3D objects having various shapes and colors by existing methods is practically impossible. The authors soleve the problem by combining existing stable technologies to measure the shape and surface color of objects a the same time, resulting in the first cylindrical scanner in the world that acquires 3D range data and color data in synchronization. In the proposed method, the cylindrical range data is measured by a laser light source and a CCD sensor with a resolution of 512 vertical scan lines, 256 points per scan line. The color data is acquired as a cylindrical projection imge having 512 by 256 pixels, 24 bits/pixel (8 bits each for red, green, and blue). The scanner is successfully applied to the measurement of various 3D objects including human heads.