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A high precision multi-target, short-range laser range-finder using a semiconductor laser diode is described. The laser diode is intensity modulated with a time-dependent frequency voltage signal. The return bundle is detected by a semiconductor photo diode and mixed with an undelayed fraction of the time-dependent frequency signal. This produces sum and difference frequencies, of which the difference frequencies are filtered out and are analyzed for individual components by a fast fourier transform processor. Each individual frequency component represents a specific distance to a target. The optical transmit and receive bundles are coaxial and can be scanned by a mirror scanner up to 100 Hz in elevation and 10 Hz in azimuth over a 30 deg by 30 deg field of view. The estimated accuracy in distance is 10 cm with a 1 ms 1.5 GHz chirp and 36 mW of optical power at a wavelength of 1310 nm, over distances ranging from 1 to 50 m. The fast fourier transform processor estimates the up to 512 individually frequency components in less than 1 ms. The non-linear time-dependent frequency behavior of the voltage controlled oscillator is compensated by an optical feedback path. This contributes greatly to the accuracy of measured distances.