Abstract: Based on the passive robot,a 3-D laser scanning system is put forward,the principle of the system is introduced.The 3-D coordinates are derived according to double-trigonometry method.The self-learning algorithm of the network based on generalization ability has been developed to calibrate the 3-D laser scanner.A teacup cover is scanned with the measuring system.The measuring precision is less than 0.1mm.Experimental results prove the effectiveness of the measuring principle and the reliability of this measuring system.