Current hand-held three-dimensional (3D) scanners for surface-shape measurement require sensor-tracking devices or surface markers to determine the position and orientation (pose) of the sensor at different viewpoints, thus limiting their functionality. This paper presents a hand-held 3D scanner without sensor tracking or surface markers. Multiple planes of light are simultaneously projected onto an object surface to provide sufficient surface information to enable surface fitting and fine interpolation between acquired data points. In surface scanning, the hand-held scanner acquires a sequence of dense overlapping range-images from different viewpoints with enough overlap between range views and abundant information within each range view to permit registration of all acquired data into a single 3D model. Calibration is performed by closed-form surface-fitting to map 2D image coordinates to 3D calibration-object coordinates. Conical diffraction adjustment corrects for projected-line curvature. The measurement accuracy was suitable for applications such as reverse engineering, and virtual and physical prototyping.