Abstract: A 3D imaging system may include a laser source, a camera arranged and oriented to collect reflected photons of a laser pulse emitted by the laser source, a master trigger connected to the laser source and/or the camera, and a computer communicatively coupled to the camera. The camera may be configured to accumulate a plurality of frames and/or to provide a first output signal including the plurality of frames and/or an averaged intensity image. The computer may be configured to receive the first output signal, receive a second output signal including a normal intensity image, provide a normalized averaged intensity image via normalizing the averaged intensity image based on the normal intensity image, determine a plurality of distances based on the normalized averaged intensity image and a brightness-distance calibration curve, and/or provide a 3D point cloud based on the plurality of determined distances and a plurality of pixel positions.