1. A method of imaging a three-dimensional scene having one or more objects, comprising: providing a camera, wherein the camera includes an inertial guidance system and one or more optical detectors; transmitting a first optical pulse so that a portion of the first optical pulse is reflected from the scene as a first reflected pulse; detecting arrival of the first reflected pulse at the one or more detectors; moving the camera relative to objects in the scene; monitoring angular velocity and acceleration; determining camera position and trajectory as a function of the angular velocity and acceleration; transmitting a second optical pulse so that a portion of the second optical pulse is reflected from the scene as a second reflected pulse; detecting arrival of the second reflected pulse at the one or more detectors; and forming a composite image of the three-dimensional scene as a function of camera position, camera trajectory and range to objects in the three-dimensional scene.