We first provide an overview of 3-D shape measurement using various optical methods. Then we focus on structured light techniques where various optical configurations, image acquisition techniques, data postprocessing and analysis methods and advantages and limitations are presented. Several industrial application examples are presented. Important areas requiring further R&D are discussed. Finally, a comprehensive bibliography on 3-D shape measurement is included, although it is not intended to be exhaustive. © 2000 Society of Photo-Optical Instrumentation Engineers.