Abstract: The research status and progress of non-line-of-sight (NLOS) three dimensional imaging lidar were reviewed in this paper. Firstly, the background and basic concepts of NLOS imaging technology were introduced. The NLOS imaging technology based on laser pulse time-of-flight measurement, which was closest to lidar configuration, was selected as the focus of this paper. Then, the research progress of this technology was analyzed and summarized from two aspects of imaging system and imaging algorithm, respectively. It can be seen that scannerless NLOS imaging with SPAD array has become an inevitable trend in the future, and the non-confocal reconstruction algorithm adapting to SPAD array will also become the research focus. This new system of lidar will be widely used in military reconnaissance, security and anti-terrorism, unmanned driving, disaster rescue and other fields in the future.