Three kinds of 3D measurement sensors are presented, each one designed for a specific application. The first one is a robot "Eye-in-hand" vision system, whose working distance goes from less than 10 cm to about 30 cm. Useful for all meticulous operations, this sensor provides 2 kinds of information: 2D images at video rate and range data used to compute distance and orientation of planar surfaces. The second sensor performs 3D imaging with a distance ranging from 0,25 m to 0,5 m. The range information of every point is obtained through triangulation. A 256 by 256 3D-image is obtained in 1 second. This sensor can be used for robot guidance, object recognition and industrial inspection. The last sensor is a panoramic range finder, which performs vision and 3D measurement all around it up to 10 m. The provided features are: panoramic 2D imaging at 10 Hz or 1 Hz, distance measurement in a orientable direction at 10 Hz. This sensor is dedicated to autonomous vehicle guidance, surveillance and obstacles avoidance. An example of 3D image processing is given.