A high-speed method of 3-D distance acquisition based on the triangulation principle is presented. This method uses conventional devices such as a CCD camera, a laser emitting semiconductor, and scanning mirrors; however, new circuits have been developed for detecting the position of spot-image on the CCD. This development enabled the high speed measurement and reduced the cost of the apparatus. Experiments showed that the apparatus and the method gave the practical measuring accuracy and speed, and it was found that the system is useful for the method of image recognition. This method can easily display the stereoscopic image and cross-sectional figure of the object body. The method of real time processing has been also developed with the view to applying the device to the range finder for robots and blind men.