We present fast 3D surface registration methods for in- hand modeling. This allows users to scan complete objects swiftly by simply turning them around in front of the scan- ner. The paper makes two main contributions. First, we pro- pose an efficient method for detecting registration failures, which is a vital property of any automatic modeling system. Our method is based on two different consistency tests, one based on geometry and one based on texture. Second, we extend ICP by three additional fast registration methods for both coarse and fine alignment based on both texture and geometry. Each of those methods brings in additional in- formation that can compensate for ambiguities in the other cues. Together, they allow for the robust reconstruction of a large variety of objects with different geometric and pho- tometric properties. Finally, we show how both failure de- tection and fast registration can be combined in a practical and robust in-hand modeling system that operates at inter- active frame rates.