In this study, we are developing a method for sequentially calculating the scan points that can obtain the shape of the entire object high-densely in 3D laser measurement. For the calculation, we do not use prior information, but utilize the low-density part of the point cloud obtained by the scan to determine the point. In this method, the point cloud that is already sufficiently dense is scanned again if it is in the vicinity of low-density area. In contrast, if excessive scan is prohibited, even if a large number of low-density points can be rescan, scan will not be allowed if there are high-density points around the points. To solve this problem, we have introduced a process to select a point where many low-density points can be scanned with high density and where the ratio of excessive scan is low. In this paper, we show the results of scan simulations using the proposed method on two kinds of 3D models of cultural properties and applying the evaluation criteria of English Heritage.