A rendering method converts three-dimensional streak tube imaging lidar
(STIL) data to two-dimensional contrast and range maps thereof. A
temporal portion of the STIL data is processed for each pixel of the
three-dimensional image. Each temporal portion includes a Gaussian-like
portion and non-Gaussian-like portions. Processing for each pixel
includes: (i) removing noise from the temporal portion using the
non-Gaussian-like portions wherein a filtered form of the Gaussian-like
portion is formed, (ii) determining a non-integer center of mass of the
filtered form of the Gaussian-like portion with the non-integer center of
mass being indicative of a range value, and (iii) applying a mathematical
interpolation function to determine amplitude of the filtered form of the
Gaussian-like portion at the range value defined by the non-integer
center of mass. The amplitude so-determined is indicative of a contrast
value. The process is repeated for all pixels to thereby produce range
and contrast maps.