The present paper describes a newly proposed method for measurement of the 3-D shape and estimation of the surface reflectance of a columnar object using a laser rangefinder. The laser rangefinder used for the method has the new image sensor, which is able to detect the incident position and incident angle of a light. Using this laser rangefinder, we measured the incident positions and the incident angles for determining the 3-D shapes, and measured the light intensity and the incident angle for determining the surface reflectance of a measured object. The original work of this method lies in the advantage that this laser rangefinder can measure the 3-D shape for both diffuse objects and specular objects, and the proposed method estimates the surface reflectance using the object itself that is used for the 3-D shape measurement. Experimental results show that the proposed method is applicable to non-contact industrial inspections