The three-dimensional (3D) distribution of aerosol was realized based on a home-made dual field of views (DFOV) Mie lidar system. The effective combination method of backscattering signals from the two telescopes was explored to retrieval the aerosol mapping. To implement the lidar mapping of the near-surface aerosol density distribution, a combination of the widely adopted and well-elaborated method of Fernald and the slope method was used. In this combination, the slope method was applied to determine the aerosol extinction and backscattering coefficients in appropriate parts of the lidar beam path. Subsequently, the values of backscattering coefficients of aerosol obtained here were used in retrieving the whole range profiles of extinction coefficients by means of forward- and backward-integrations in the Fernald solutions. As a result, the lidar range profiles of the aerosol extinction coefficients were retrieved with relatively high precision and reliability. In this manner, the advantages of these two approaches are synergistically combined with avoiding priori assumption of atmospheric condition and the reference point, respectively. Then an ideal quantity relationship between the particulate matter mass concentration (ρ(PM10)) and aerosol extinction coefficients was given through a nonlinear fitting with ρ(PM10) monitored by an air quality station (AQS) and the overhead extinction coefficient scanning by DFOV lidar. The fitting Pearson Coefficient was 091. The mass concentration density field of aerosol was mapped continuously and online through applying the fitting formula. This quantity study established a foundation for the city-cluster’s air pollution evaluation and the regional 3D air quality model assimilation.