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A measured range image of imaging laser radar (ladar) is usually disturbed by dropouts and outliers. For the difficulty of obtaining measured data and controlling noise level of dropouts and outliers, a new simulation method for range image with noise is proposed. Based on the noise formation mechanism of ladar range image, an accurate ladar range imaging model is formulated, including three major influencing factors: speckle, atmospheric turbulence and receiver noise. The noisy range images under different scenarios are obtained using MATLAB TM . Analysis on simulation results reveals that: (1) Despite of detection strategy, the speckle, the atmospheric turbulence and the receiver noise are major factors which cause dropouts and outliers. (2) The receiver noise itself has limited effect on outliers. However, if other factors (speckle, atmospheric turbulence, etc.) also exist, the effect will be sharply enhanced. (3) Both dropouts and outliers exist in background and target regions.

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