Full-Color LED lighting system requires efficient control of the lighting color in order to easily achieve various color effects. In this paper, we present not only a portable color scanner using color sensors which can control lighting color directly from detected color but also methods to convert detected color to a complementary color, similar colors and so on. In addition, we propose a compensation method for measured sensor color to reduce measurement errors more than 50[%] in detected color. The developed color scanner is applied to control full-color LED ceiling light for emotional lighting.