In order to calibrate the robotic lase r scanning system in the industrial field,this paper proposes a line structured l aser sensor calibration method based on the principle of cross-ratio invariance.The structural parameters of the laser plane in the sensor coordination system are calibrated by taking several photos of a planar target a t different positions in the working range of the laser sensor,and the planar target is allowed to move freely.Then a robot hand-eye calibration method by measuring a fixed point from different robot poses is advanced.In thi s method,a reference sphere with known diameter is adopted as the calibration target and the robot drives the las er sensor to measure the center of the reference sphere from different poses.Translational and orientational motio ns of the robot are performed successively in the hand-eye calibration process and the hand-eye relationship is calibrated based on the fixed-point constraint.Calibration results show that the calibration method pr oposed in this paper is efficient,fast and well suited to the calibration work of robotic 3D shape scanning system in t he industrial field.