Combined with the principle of triangulation and the advantages of visual laser, aiming at the problem of terrain texture mapping, a 3D terrain texture mapping system based on multi-point structured light is designed. The system keeps the relative position of laser and camera fixed, which can collect depth information and texture information at the same time. After image processing, 3D virtual terrain with texture detail information can be generated, and the real-time performance of texture mapping results can be improved. The direction error of the system in depth measurement can be controlled within 1.3 mm. Due to the simple platform, no additional camera is required to collect texture information. Compared with the traditional three-dimensional measurement system, the cost is reduced, and the efficiency of modeling is improved.