A laser vision sensor has been developed to enable range measurement and identification of targets through flames, smoke, and fog which are invisible to the human eye. This vision sensor employs a 10.6 μm-wavelength carbon dioxide laser for its long wavelength. The target is scanned two-dimensionally by the laser beam, directed by a pair of galvanometer mirrors, to produce the target image and measure the range of the target. The laser beam, amplitude-modulated to 5 MHz with an electro-optic modulator, is projected onto a target, and the reflected beam is detected by a cadmium mercury telluride detector. The phase difference between the projected and reflected light signals is used to provide range data up to 30 m. The indoor test is carried out with a 1 cubic meter box in which flames, smoke, and fog can be generated. The laser beam is projected through this box, and the targets behind this box are detected. The reproduced image is sufficient for identification through flames, smoke, and fog.