In order to remote sense the aerosol optical properties in the horizontal inhomogeneous atmosphere, a method based on twin scanning lidars was proposed for fine detection of aerosols. The scanning lidar was utilized to be the remote sensing tool to overcome the effect of overlap function of lidar system. The twin scanning lidars were performed for the cross scanning from the ground to the height of concern, which made the exact solutions of the two unknown parameters (extinction and backscatter coefficients) in the lidar equation retrievable. In the procedures of data retrieval, the coordinate and gridding were performed in the cross region, and the initial values of the pixel data were set. Numerical approximations of aerosol extinction and backscatter coefficients were got finally by minimizing the estimation of lidar function and the real one. The verification of retrieval method was performed using the scanning data from the long-range scanning lidar. The result shows that the retrieved result has the same tendency of height compared with the result from the multi-angle method, and twin scanning lidars can provide the aerosol distribution in cross scanning region profile which has advantage compared to the single profile.