隨著科技的進步,近年來3D列印機得以低價化而快速普及； 在可見的未來， 3D模型的需求會與日俱增。3D掃描器可以將已知的模型掃描為3D模型， 可分為平台式與手持式； 手持式的3D掃描器幾乎沒有掃描尺寸限制， 但因為與物體的相對座標不固定， 因此需花費較大的運算成本。有別於過去論文以純數學來分析3D掃描器的點雲，本論文利用慣性感測元件來偵測深度感測器(3D掃描器的原件)的角度變化，進而快速的合成3D模型。根據實測可以發現，本方法的運算速度在角度變化較大的情況下， 比起過去的方法有三倍以上的速度提升。

With the advance of science and technology, 3D printer become low prices and widely spread in recently year. In the future, the demand of 3D model will grow with each passing day. 3D scanners can scan object to 3D model, and are divided in two types: standalone or hand -hold. Hand-hold 3D scanner has almost no limit of scanning size, but due to unfixed position between object and scanner, the point cloud form hand -hold 3D scanner requires more time to analyze. Different from previous literature using only mathematic method to analyze point cloud, the method described in this paper utilizes inertial measure unit to sense orientation of depth sensor, and synthetize 3D model quickly. In large angle changed, experiment shows that the speed of new method could be three-time faster than other methods.