Abstract: A method for coordinate error correction with a three-dimensional (3D) lidar scanner. The error source that affects the measurement accuracy of the three-dimensional coordinate is determined by building an error model, and then the error is modified to improve the measurement accuracy of the three-dimensional lidar scanner. The error correction method includes: building a theoretical calculation model, analyzing the source of measurement error, building an error model, solving the error model and implementing coordinate correction. During building the error model, 26 error factors are considered to obtain a calculation expression of the three-dimensional Cartesian coordinate. The calculation expression includes the amount of errors, the azimuth angle, the pitch angle and the distance.