In this paper we present a 3D imaging system for high-quality documentation of cultural heritage surfaces. The main challenge in this kind of documentation is related to the requirements of high accuracy and resolution for large and complex surfaces. Our test subject was the King's Chinese Cabinet (Museum of King Jan III's Palace at Wilanów) consisting of geometrically complex wall decorations (European lacquer technique). The technical requirements for documentation in the form of clouds of points were: <0.1 mm point to point spatial resolution, <0.05 mm spatial accuracy and color representation in unified lighting conditions (without local reflections from light sources). The total area of walls and ceiling to be covered by the measurements was approximately equal to 96m². Illumination had to be limited to the visible spectrum only. We developed a structured light measurement head with a group of additional LED illuminators. To speed up the measurement process we mounted the measurement head on a robot arm and integrated their coordinate systems. This step gives us automatic rough view registration within the range of motion of the robot arm. The arm was mounted on a specially developed, moveable and stabilized platform that can be extended to measure surfaces at an altitude of 5,5 meters. In the paper we discuss main aspects connected with development, calibration and data processing related to the measurement process. We also describe main processing algorithms being used. Exemplary result of King's Chinese Cabinet measurement are presented with discussion of main data processing steps.