A high accuracy calibration method for the installation parameters between 3D Terrestrial Laser Scanner(TLS) and external-installed digital camera was proposed. Firstly, the intrinsic parameters were calibrated by existing commercialized close-range photogrammetry products. Then, by taking reflector target centers as input control points of 2D and 3D matching, the direct linear transformation algorithm was expanded in applications and the intrinsic parameters were taken as known coefficients to solve the extrinsic parameters. Finally, the extrinsic parameter of every camera shooting angle was calculated according to the relationships between different shooting angles to get the mapping relationship between point cloud and multi-angle images. The test experiments were performed, and the accuracy and feasibility of the calibration method were verified by obtaining the difference between point pixel coordinate and real measuring result with installation parameter calibration results. The experimental results indicate that the calibration accuracy reaches 1 pixel and the mapping relationship between point cloud and multi-angle images is correct, which satisfies the requirements of texture mapping and accuracy by applying images as auxiliary data in feature extraction.