A fundamental score of this paper is to explain in detail how to create a 3D-provided modeled scene by data obtained at minimal cost to the client or users by manufacturing a smart, automated system for heritage documentation (SAS-HD). The steps can be classified by manufacturing, parts connection and simulation, selection of work sites, and obtaining data. The most important acquiesced data are digital images which are fundamentally used by the structure from motion (SFM) approach in MATLAB. The obtained images were subjected to sequenced tips by getting 3D sparse points of each object. Two objects have been considered by this article in an indoor case study: first feature is Ishtar Gate, and the second one is the winged ball inside Iraqi museum in Baghdad capital. The results are promising; hence 3- Structure From Motion SFM method has been utilized to document heritage by manipulating 3D models on MATLAB interphase, which is approved for its efficiency as well as its quick, super advanced processing steps.