In this paper, a compact high-speed range image sensor that can acquire a range image mapped with a color texture is constructed. The sensor consists of only commercially available products: a monochrome CCD camera, a color CCD camera, a laser projector, and two optical filters. The laser projector projects 19×19 multi-spot lights. Using the laser projector and the monochrome CCD camera with the optical filters, range images with 19×19, totally 361 points are measured. As fast as 100[Hz] measurement of a range image mapped with a color texture is achieved. Additionally, a three-dimensional (3D) mapping method using the constructed sensor is introduced. The performance of the constructed sensor and the 3D mapping method are evaluated by experiments. It is shown that the constructed sensing system can acquire 100[Hz] real-time textured range images and that it can be applied to 3D mapping by using range and color information.