In order to solve the problem that traditional binocular vision 3D scanning requires multiple scans and then registration, a dynamic 3D scanning method based on optical tracking is proposed. The first part is monocular optical scanning, which uses laser stripes as the active light source to achieve the function of 3D scanning. The second part is monocular optical tracking, which realizes the calculation and tracking of the position and posture of the scanning device, and instantly converts the point cloud data obtained by the scanning camera to the tracking camera coordinate system, realizing real-time data registration during the dynamic scanning process. The experimental results show that this method can achieve dynamic scanning to obtain the point cloud information of the object. The accuracy of the scan is about 1 mm in the direction of the $${\mathbf{XOY}}$$XOY coordinate plane of the coordinate system and about 0.08 mm in the direction of the z-axis. At the same time, the scanning time can be saved by 50% compared with the traditional binocular vision 3D scanning method.