Aiming at the scanning efficiency of three dimensional (3D) laser scanning system for mobile robot all over the world, a humanoid-eye 3D laser scanning algorithm was proposed. Imitating the scanning function of human eyes from bionics, this algorithm divides the scanning process into two steps: according to the scanning information currently, the scanning scheme of the next step will be planned to reduce the gain of useless information; Through adopting the stepping interpolation location to fetch up the time consuming from stepping scan, the efficiency of the scan can be improved. To satisfy the real-time requirement for the online computing, a hardware architecture consisting of digital signal processing (DSP) and field-programmable gate array (FPGA) was proposed. Therefore, as the main controller, DSP can obtain 3D laser data; as the coprocessor, FPGA can complete the scanning algorithm. The experiment result shows the humanoid-eye scanning algorithm can improve the efficiency of the 3D scanning system greatly.