Abstract: Take the shape, orientation, location estimation and recognition of the target object, which is based on the laser imaging radar 3D point cloud, as the application background. According to the characteristics of the warhead shape, model it as a cone approximately, and characterize it by 6 parameters. The estimation method of conical target parameters by the L-M (Levenberg- Marquardt) algorithm was put forward, which were based on LADAR 3D point clouds, and pointed out that this method could also be used for the recognition of conical target. The result of the simulation experiment shows the relationship between the estimation errors of parameters with the distance resolution and point cloud scale of the laser radar separately. The simulation and experimental results show that, this method could accurately estimate the parameters of conical warhead target in a certain observation distance resolution, and according to the optimization results of objective function and the obtained parameters the target could be identified.