In the present paper, a method to scan the front face of a measured object behind an obstacle around a scanner using a two-dimensional laser range scanner and mirrors is described. The distances and angles from the scanner to the measured object through the mirrors avoid the obstacle at a constant angle, which are measured radially by the laser. Thus, laser-reflecting points on the front face of the measured object behind the obstacle at a constant angle are obtained. The construction and function of the proposed scanning method using the scanner and mirrors are presented, based on which coordinate systems are set to design the proposed scanning method. The coordinates and angles of the obstacle and mirrors, trajectories of the laser, installation of the scanner and mirrors, and coordinates of the laser-reflecting points on the front face of the measured object are designed based on the coordinate systems. An experimental equipment is designed as described above, to evaluate the performance of the proposed scanning method. The equipment is built using an actual scanner and mirrors, and the methodologies using this equipment are set. Subsequently, the results are discussed.