In this paper, we first investigate the estimation of the empirical joint Laplace transform of volatilities of two semi-martingales within a fixed time interval [0, T] by using overlapped increments of high-frequency data. The proposed estimator is robust to the presence of finite variation jumps in price processes. The related functional central limit theorem for the proposed estimator has been established. Compared with the estimator with non-overlapped increments, the estimator with overlapped increments improves the asymptotic estimation efficiency. Moreover, we study the asymptotic theory of estimator under a long-span setting and employ it to create a feasible test for the dependence between volatilities. Finally, simulation and empirical studies demonstrate the performance of proposed estimators.