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We realize a high-speed 3-D measurement system consists of a range-finder based on a smart CMOS image sensor and a system-controller with 3-D calculation capability based on an FPGA. We have designed and implemented the 3-D engine for 3-D geometry calculation using calibration parameters. We demonstrated the 3-D measurement performance and 3-D range-finding rate, respectively, of 8.3 k-frames/sec and 29.8 rangemaps/sec. We show performance estimation of the presented system for multiple-viewpoint 3-D measurements.