The Holometrics 3-D vision system is a single camera, laser ranging sensor capable of high frame-rate mapping of the 3-D metric properties of a scene contained within the system field-of-view (FOV). The ranging function is accomplished with laser ranging techniques with frame rates of less than two-seconds over a 40 X 40 degree FOV. The range data acquired by the system is manipulated in an image processor which utilizes algorithms capable of extracting 3-D shape information. The algorithmic operations are accomplished regardless of rotation, orientation or partial obscuration of objects in the scene. The sensor is independent of ambient lighting conditions or visual contrast between object and background. The elapsed time from scene scan to processor output is less than three seconds. The system output data is used to support a wide range of automated manufacturing, inspection, robotic, navigation, bin-picking, assembly, ordnance guidance, etc. applications. A block diagram of the Holometrics 3-D Vision System is provided in Figure 1. The remainder of the paper describes the performance characteristics of this 3-D Vision System.