A three-dimensional (3D) scanning system based on a single camera of four planar mirrors is presented. The 3D scanning geometric path of the system is introduced. The 3D height acquisition algorithm, the relationship between spatial resolution and image resolution are analyzed. The techniques of algorithm optimization and 3D reproduction are also discussed. The result shows that, compared with those 3D scanning methods using laser scanning, this proposed system based on mirror parallax is an effective 3D acquisition method because it can capture the spatial structure and color texture of a surface simultaneously, and the structure is simple.