A scanner for generating 3D data relating to a surface of a target object includes a scanner frame on which is mounted a set of imaging modules including a light projector unit for projecting a structured light pattern of the surface of the target object, wherein the structured light pattern includes a plurality of elongated light stripes arranged alongside one another, and further defining discrete coded elements extending from at least some of the elongated light stripes in the plurality of elongated light stripes. The set of imaging modules further includes a set of cameras positioned alongside the light projector unit for capturing data conveying a set of images including reflections of the structured light pattern projected onto the surface of the target object, and one or more processor in communication with the set of imaging modules for receiving and processing the data conveying the set of images. Related systems and methods are also described.