This paper focuses on the system for object inspection by use of a laser stripe scanner and an industrial robot. In order to ensure the precision of the scanning system, a one-stage calibration method is proposed. This scheme mainly utilizes a circular-marked board as calibration target and calibrated the scanner model and hand-to-scanner transformation simultaneously using the same reference points. Therefore the influences of the scanner calibration error on the hand-to-scanner calibration can be eliminated naturedly. Finally, some experimental results are reported and analyzed.