A 3D foot scanning system with a sensor head guided around the foot and a mirror settled below the bottom of foot has been developed. This system measures all of the foot parts below the ankle in 13 seconds. A 3-dimensional path for the sensor head is achieved by using a stereo camera above the sensor head in an off-line process. The shape of the foot obtained from the sensor head and the 3D path of the sensor head are merged, and the entire shape of the foot is re-constructed in an on-line process. These processes make it possible to freely design the path of the sensor head and the optimized path for the foot shape. The accuracy of the foot scanning system is ±1.0 mm for the foot length and ±1.5 mm for the foot perimeter.