Here we present 3D world modeling and its quantitative analysis methods in urban environment. If the expensive RTK GPS cannot be prepared, it is difficult to measure the accuracy of the 3D world model due to the blackout of GPS particularly in urban environment. To cope with this difficulty, we combine to process both satellite image and point cloud to compare each other in order to represents accuracy of 3D world model. We also introduce 3D world modeling method through localization algorithm and global registration method in order to validate our quantitative analysis. In the experimental result, we describe our sensor system and evaluate the proposed quantitative analysis method using 3 different localization algorithm. Our framework is suitable of mobile mapping system in urban environment in terms of cost.