In this paper we describe a new 3D-vision sensor developed in cooperation with the Technical Research Centre of Finland, the University of Oulu, and Prometrics Oy Co. The sensor is especially intended for the non-contact measurement of the shapes and dimensions of large industrial objects. It consists of a pulsed time-of-flight laser rangefinder, a target point detection system, a mechanical scanner, and a PC-based computer system. Our 3D-sensor has two operational modes: one for range image acquisition and the other for the search and measurement of single coordinate points. In the range image mode a scene is scanned and a 3D-image of the desired size is obtained. In the single point mode the sensor automatically searches for cooperative target points on the surface of an object and measures their 3D-coordinates. This mode can be used, e.g. for checking the dimensions of objects and for calibration. The results of preliminary performance tests are presented in the paper.