In view of the characteristics of narrow and long environments such as roadways and tunnels, as well as the current limited scanning range of multi line lidar and the problem that the three-dimensional shape reconstruction largely stays in a single distance information, this paper proposes a realization system of full scene three-dimensional scanning and color three-dimensional shape by using mobile platform to carry multi line lidar, and optimizes the system to improve the reconstruction accuracy and running speed of the system. After preprocessing the original point cloud data, the intensity information of the point cloud data is converted to get the color information. Then the three-dimensional reconstruction is carried out through Poisson reconstruction, and the color information is assigned to the Poisson reconstruction results to get the color three-dimensional model. Finally, the feasibility and practicability of this system are verified by experiments.