The information of luminance and color at the point where the camera's sight line hits the surface of object. The area is large at which application of range finder is of useful, for example, model generation for computer graphics [1] and robot's eye [2]. In order to realize these requests, range finder needs some functions. Especially, there are 3 functions for range finder used for robot control. These are, high-speed measuring to control on a real time, downsizing of equipment, and reducing the cost of the system. The progress of technology, for example, new semiconductor and speed-up of arithmetic processing, meet the demands in recent years but there remains large room for improvement. In our research, we have developed a high-speed range finding system, but some problems have appeared on an implementation process. This paper proposes a solution and an experiment proves it is efficient.