Aiming at three-dimensional (3D) reconstruction of interior space, based on dual two-dimensional (2D) laser radar, the precise calibration method of relative position and pose between two radars were presented, the consecutive collection was achieved, and accuracy point cloud contour was obtained. By the establishment of mathematical model of target parameter from scanning data of static calibration, the position and pose compensation matrix between dual 2D laser radar was obtained, which was converted into precise matrix. We established simulation platform to simulate calibration experiment and realize distortion correction of target parameters. This method was proved to be applicable through analogue acquisition experiments, where the degree of separation of point cloud was less than or equal to 7 mm. Undistorted 3D point cloud contour was acquired through the establishment of hardware platform and indoor contour acquisition experiment after calibration. The experiment results show that the calibration accuracy of relative position and pose between dual 2D laser radar could meet the requirements of 3D reconstruction in interior scene.