No single sensor can acquire complete information by applying one or several multi-surveys to cultural object reconstruction. For instance, a terrestrial laser scanner (TLS) usually obtains information on building facades, whereas aerial photogrammetry is capable of providing the perspective for building roofs. In this study, a camera-equipped unmanned aerial vehicle system (UAV) and a TLS were used in an integrated design to capture 3D point clouds and thus facilitate the acquisition of whole information on an object of interest for cultural heritage. A camera network is proposed to modify the image-based 3D reconstruction or structure from motion (SfM) method by taking full advantage of the flight control data acquired by the UAV platform. The camera network improves SfM performances in terms of image matching efficiency and the reduction of mismatches. Thus, this camera network modified SfM is employed to process the overlapping UAV image sets and to recover the scene geometry. The SfM output covers most information on building roofs, but has sparse resolution. The dense multi-view 3D reconstruction algorithm is then applied to improve in-depth detail. The two groups of point clouds from image reconstruction and TLS scanning are registered from coarse to fine with the use of an iterative method. This methodology has been tested on one historical monument in Fujian Province, China. Results show a final point cloud with complete coverage and in-depth details. Moreover, findings demonstrate that these two platforms, which integrate the scanning principle and image reconstruction methods, can supplement each other in terms of coverage, sensing resolution, and model accuracy to create high-quality 3D recordings and presentations.