A non-contact sensing system acquiring three-dimensional information includes a laser light source and fiber generating a Gaussian optical beam. A movable mirror is angularly adjusted to scan the beam to an area of illumination. A lens package between the light source and the movable mirror focuses the optical beam to under-fill a movable mirror optical surface and control an optical beam scanned volume. The optical beam reflected by the movable mirror is redirected using a fold mirror orthogonal to an optical beam orientation. The optical beam is maintained Gaussian by the mirrors and lenses. An imaging device having a field of view intersecting the area of illumination receives optical beam image data reflected from the area of illumination. A control module communicating with the imaging device receives an object location in the imaging device field of view from the image data and reports object location data to a coordinate system.