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A calibration algorithm between 2 dimension laser range finder (2D LRF) and platform was described in this paper for the color measurement system. A calibration board with right angle outline was designed to improve the calibration precision based online feature. The result parameters were obtained through solving the constrain equations by the correspond data between 2D LRF and the platform. The 3D reconstruction experiment of real data proves the effectiveness and the efficient of the system and the algorithm.