A machine vision integrated sensor,which includes one 3-D profilometer based on a synchronized laser scanner and two CCD cameras,has been presented.The mapping relationship among the 3-D surface profile and two 2-D CCD images was developed by means of their special geometric correspondence in space.Therefore range information from the 3-D surface data could be added to the corresponding small area on two 2-D CCD images,and meanwhile the intensity,color and vein information from the CCD images could also be affixed to the grid of 3-D surface profile,moreover the matching relation between two CCD images could be achieved through their small area mapping to the common pixel on the 3-D image so that the intersection measurement based on the two CCD images could be realized.Data fusion and information complementation among 3-D surface profile and 2-D CCD images can be ensured in order to meet the need of machine vision requirement.