3D Scanners are used in industrial applications such as reverse engineering and inspection. Customization of existing CAD systems is one of rapid ways to supplying a 3D Scanning software. In this paper, using AutoLisp and Visual Basic programming languages, AutoCAD has been customized. Also facilities of automatic scanning of physical parts, in the domain of free form surfaces, have been provided. Furthermore, possibilities such as, control of scanner automotive system, representation of registered point clouds, generation of polygon and /or NURBS model from primary or modified point clouds, have been prepared. Triangulation and image processing techniques along with a new fuzzy logic algorithm have been used to extract the depth information more accurate. These, accompanying with AutoCAD capabilities have provided acceptable facilities for 3D scanning.