The invention relates to a measurement system (1) and to a corresponding method for detecting textured three-dimensional spatial geometries. The measurement system (1) comprises a distance measurement device (3) that is pivotably mounted about a vertical axis (5) and a horizontal axis (7). The distance measurement device (3) is designed to generate a set of distance data for the reconstruction of a three-dimensional spatial model (11). The measurement system (1) further comprises a camera (9) which is mounted on a pivotable part of the distance measurement device (3). The camera (9) is configured to generate image recordings (35) by which the three-dimensional spatial model (11) can be textured.
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