三维成像激光雷达因获取信息丰富、抗干扰能力强、分辨率高等优势已广泛应用于地貌勘测、自动驾驶、智能交通、视觉跟踪等**与民用领域。随着雪崩光电二极管（APD）探测器件的发展与三维成像体制的多样化(例如：微机电系统扫描、相控阵、闪光等)，激光雷达性能较早期已得到大幅提升。立足于军民领域对激光雷达的新需求，迫切需求新方法、新体制进一步提升三维成像的综合性能。首先从APD三维成像激光雷达的发射单元、接收单元、算法单元（数据处理单元）三方面关键技术展开分析。然后，以载荷应用需求对三维成像激光雷达进行了分类阐述与讨论，重点以车载环境感知为例深入讨论了现有激光雷达的应用现状与军民应用所面临的难点问题。基于APD器件的三维成像方法多元化发展，讨论了两种适用于APD器件的新型三维成像方法（异构变分辨率与鬼成像）。最后，在分析三维成像激光雷达研究现状的基础上，总结了三维成像激光雷达正朝着大视场、高分辨、高精度、实时性、模块化、智能化的方向发展，为进一步研究高性能三维成像激光雷达奠定基础。

Due to the advantages of rich information, strong anti-interference ability and high resolution, three-dimensional (3D) imaging lidar has been widely used in defense and civil fields, such as geomorphology surveys, autopilot, smart transportation and visual tracking. With the development of avalanche photodiode detector (APD) and the multiplicities of 3D lidar (e.g., MEMS, optical phased array, flash, etc.), the performances of lidar has been greatly improved compared with that of initial 3D systems. According to the new requirements on 3D lidar for the military and civilian fields, novel methods and mechanisms were proposed to improve comprehensive performances of 3D imaging. First of all, the three key technologies of APD-based 3D imaging lidar were analyzed, including the transmitting unit, the receiving unit, and the algorithm unit (data processing unit). Then, 3D imaging lidar was classified and discussed according to the different applications for loading. Among them, 3D imaging lidar based on unmanned vehicle was selected as the typical example for illustrating the application status and the difficulties faced with military and civilian applications. Based on the diversified development of 3D imaging methods, two novel 3D imaging methods (heterogeneous resolution and ghost imaging) suitable for APD devices were discussed. Finally, based on the analysis of the research status of 3D imaging lidar, it is concluded that 3D imaging lidar is developing towards the large field of view, high resolution, high precision, real-time, modularity and intelligence, which paves the way for developing high performances of 3D imaging lidar.