In this paper, we propose a new 3D scanner, which is easy to operate. Till date several 3D scanners, including commercial products, are available; however, most of these are usually large, heavy, and expensive. Although inexpensive 3D scanners manufactured using vision-based techniques, such as stereo vision, are available, they cannot be used in actual measurements because the techniques are still being researched. Our proposed scanner consists of only a laser projector and a single camera and is based on the self-calibarating technique; thus it does not require both precalibration and expensive mechanical devices. This implies that the system to be low-cost and the occlusions can be effectively reduced by moving the projector while scanning. Experiments of our method were performed using both synthesized and real data and the 3D information of the scene was successfully reconstructed.