DCS has developed an improved topographical mapping system, the 3-D Areal Mapping System. This system operates by projecting a structured multiple-line laser light array onto a target surface, temporally modulating the array, sensing the reflected light with one or more off-axis video cameras, and triangulating along the center of each line in the array. Through the use of the structured light array, an entire area of the target surface may be mapped with no movement of target or mapping system. The system's temporal modulation scheme gives it a high degree of immunity to variations in background illumination, target surface reflectivity and texture, and target topography. A holographic optical element generates the structured-light array; this element significantly reduces the size, complexity, and cost of the laser projector as compared to preceding systems and also removes certain aberrations in the projected array.