We report three-dimensional cooling of a levitated nanoparticle inside an optical cavity. The cooling mechanism is provided by cavity-enhanced coherent scattering off an optical tweezer. The observed 3D dynamics and cooling rates are as theoretically expected from the presence of both linear and quadratic terms in the interaction between the particle motion and the cavity field. By achieving nanometer-level control over the particle location we optimize the position-dependent coupling and demonstrate axial cooling by two orders of magnitude at background pressures as high as $6times10^{-2}$ mbar. We also estimate a significant ($> 40$ dB) suppression of laser phase noise, and hence of residual heating, which is a specific feature of the coherent scattering scheme. The observed performance implies that quantum ground state cavity cooling of levitated nanoparticles can be achieved for background pressures below $10^{-7}$ mbar.
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