Ground-based LiDAR is one of the most effective city modeling tools at present, which has been widely used for three-dimensional reconstruction of outdoor objects. However, as for indoor objects, there are some technical bottlenecks due to lack of GPS signal. In this paper, based on the high-precision indoor point cloud data which was obtained by LiDAR, an international advanced indoor mobile measuring equipment, high -precision model was fulfilled for all indoor ancillary facilities. The point cloud data we employed also contain color feature, which is extracted by fusion with CCD images. Thus, it has both space geometric feature and spectral information which can be used for constructing objects’ surface and restoring color and texture of the geometric model. Based on Autodesk CAD platform and with help of PointSence plug, three-dimensional reconstruction of indoor whole elements was realized. Specifically, Pointools Edit Pro was adopted to edit the point cloud, then different types of indoor point cloud data was processed, including data format conversion, outline extracting and texture mapping of the point cloud model. Finally, three-dimensional visualization of the real-world indoor was completed. Experiment results showed that high-precision 3D point cloud data obtained by indoor mobile measuring equipment can be used for indoor whole elements’ 3-d reconstruction and that methods proposed in this paper can efficiently realize the 3 -d construction of indoor whole elements. Moreover, the modeling precision could be controlled within 5 cm, which was proved to be a satisfactory result.