Three-dimensional model of the interested region on the surface of an object provides an important information for a variety of industrial robot applications including welding, deburring, reverse engineering, etc. In this paper, we present a method that enables to determine 3D surface points of the objects by using a single camera and a rotary stage. The method utilizes a stereo vision triangulation. Two different views of the interested region needed for stereo vision process are obtained by rotating object. We present the experimental results carried out with a real equipment. The results demonstrate that the presented method is able to determine the 3D positions of the interested region on objects successfully.