Range-gated three dimensional imaging technology is a hotspot in recent years, because of the advantages of high spatial resolution, high range accuracy, long range, and simultaneous reflection of target reflectivity information. Based on the study of the principle of intensity-related method, this paper has carried out theoretical analysis and experimental research. The experimental system adopts the high power pulsed semiconductor laser as light source, gated ICCD as the imaging device, can realize the imaging depth and distance flexible adjustment to achieve different work mode. The imaging experiment of small imaging depth is carried out aiming at building 500m away, and 26 group images were obtained with distance step 1.5m. In this paper, the calculation method of 3D point cloud based on triangle method is analyzed, and 15m depth slice of the target 3D point cloud are obtained by using two frame images, the distance precision is better than 0.5m. The influence of signal to noise ratio, illumination uniformity and image brightness on distance accuracy are analyzed. Based on the comparison with the time-slicing method, a method for improving the linearity of point cloud is proposed.