Due to the complex system, high calibration standard and long measuring time in the current multi-sensor three-dimensional (3D) measurement systems, we present a simple high speed single-sensor 360° 3D measurement system and a convenient high-precision calibration method. The system consists of a projector apparatus, a CCD and two front surface mirrors. The point cloud data of the object is obtained from three parts. The front surface is acquired directly from CCD, corresponding to the middle area in the picture. The rest two parts are collected from the two mirrors respectively, corresponding to the left and right areas in the picture. Firstly the system without mirrors is calibrated. Then the right and left systems containing the front surface mirrors can separately be calibrated with a double-sided projector screen. The continuous surface point cloud data under the global coordinates is obtained eventually. The experimental result shows that the proposed system has low cost, high precision and high reconstruction speed, and it is applicable to field calibration.