An approach for dynamic 3D shape acquisition of moving object and pipelined 3D modeling is proposed. Based on a brief review of previously reported methods a modified sensor prototype to realize the proposed approach is designed, which relies on color stripe boundary encoding. By locating the ghost boundary and removing its influence on boundary tracking, it is possible to reduce the erroneous range data and improve the scanning efficiency. Moreover, an efficient method for pipelined 3D modeling based on the registration using markers is proposed. An interactive view planning method in the modeling is also presented, leading to an improved accuracy and efficiency for registration and resulting in a modeling process with minimum range images. Experiment results show that the proposed approach can not only reconstruct the range image of single viewpoint accurately, but also automatically register the range images from different viewpoints, achieving 3D modeling in a pipeline mode.