激光雷达三维成像相比二维成像具有信息丰富、主动性好、抗干扰能力强等优势，已广泛应用于遥感侦察、无人驾驶、航空航天等多领域。近年来，激光雷达三维成像发展迅速，一方面，以APD阵列器件为典型核心器件的制造能力增强，激光雷达的成像效率得到明显提升；另一方面，随着三维成像方法（扫描/非扫描）的不断改进，其综合性能也得到突飞猛进的发展。通过总结现有激光雷达三维成像的研究现状，讨论现阶段其面临的问题与解决方法，为推进激光雷达应用提供支撑。

Compared with two-dimensional imaging, three-dimensional (3D) LiDAR imaging has the advantages of rich information, good initiative, and strong anti-interference ability, and it has been widely used in reconnaissance, unmanned vehicle, aerospace, etc. Recently, 3D LiDAR imaging developed rapidly from two aspects. On the one hand, the manufacturing capability of APD as a typical core device has been improved, and the imaging efficiency of LiDAR has been significantly increased. On the other hand, with the continuous improvement of 3D imaging methods (scanning/non-scanning), their comprehensive performance has also been dramatically improved. This paper provides support for advancing the application of 3D imaging by summarizing the current research status of 3D LiDAR imaging, discussing the problems and proposed solutions faced in the present stage.