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It is difficult to acquire surface geometry and color data of space point cloud simultaneously for the existing 3D laser scanners, and matching the point cloud data among different viewing angles is also hard. This paper is aimed to use an ASODVS(Active Stereo Omni-directional Vision Sensor) made up by a type of ODVS(Omni-directional Vision Sensor) and 360°mobile laser source to solve these problems. Point cloud data can be scanned and acquired at the same time using ASODVS whose scanning step and speed are controlled by a man-machine interface. Algorithm of extracting laser line which is the key technology of point cloud data acquisition is researched deeply in this paper. Three different algorithms of extracting laser line from panorama images were used in this paper to compare with each other. Experimental results show that, the algorithm of frame difference can extract laser project points in panorama images accurately and efficiently. The algorithm has advantages in less computer resources consuming, process automatically and generating data orderly.