This paper describes a small high-speed range image sensor which can acquire a range image mapped with a color texture captured by another camera. The constructed sensor consists of only commercially available products: a monochrome CCD camera, a color CCD camera, a laser projector, and two optical filters. The resolution of the range image is 19×19 for a total of 361 points, and the measurement speed is 100Hz. A three-dimensional (3D) mapping method using the constructed sensor is introduced. The measurement precision of the sensor and the accuracy of the constructed 3D map are evaluated with some experiments. In addition, measurement examples of the sensor are shown. Experiments verify that the constructed sensing system can acquire 100Hz real-time textured range images and that it can be applied to 3D mapping by using range and color information. © 2010 IEEE.