A system for short-range laser detection and ranging of targets can provides rapid three-dimensional, e.g., angle, angle, range, scans over a wide field-of-view. Except for the final transmit/receive lens, the disclosed LADAR system can be implemented in an all-fiber configuration. Such system is compact, low cost, robust to misalignment, and lends itself to eye-safe operation by making use of available pulsed 1550 nm fiber lasers and amplifier sources. The disclosed LADAR system incorporates many novel features that provide significant advantages compared to current LADAR systems. The disclosed system uses a monostatic fiber-based transmitter/receiver, a fiber beam scanner based on a laterally vibrating fiber, and a position sensor to monitor the transmitted beam position.