1. A system for generating a three-dimensional image of a target from lidar measurements and video images, the system comprising: a lidar subsystem configured to direct at least two beams toward the target and that generates a range measurement and a Doppler velocity measurement for each of a plurality of points on the target for each of the at least two beams; a video subsystem configured to provide a plurality of two-dimensional images of the target; and a processor configured to: receive, from the lidar subsystem, the range measurement and the Doppler velocity measurement for each of the plurality of points on the target, receive, from the video subsystem, the plurality of images of the target, estimate motion aspects of each of the plurality of points on the target during a first stage, wherein the motion aspects comprise translational velocity components expressed in three dimensions as v x trans , v y trans , and v z trans , and angular velocity components expressed in three dimensions as ω x , ω y , and ω z , wherein the processor is further configured to: estimate the translational velocity component v z trans and the angular velocity components ω x and ω y of each of the plurality of points on the target from the range measurements and the Doppler velocity measurements from the lidar subsystem, and estimate the translational velocity components v x trans and v y trans and the angular velocity component ω z of each of the plurality of points on the target from two-dimensional position and velocity measurements of at least one feature of the target obtained from the plurality of images of the target and from the estimated velocity component v z trans and the estimated angular velocity components ω x and ω y ; refine, during a second stage, the motion aspects of the target estimated in the first stage by: transforming a first one of the plurality of images to a particular time using the motion aspects of the target estimated in the first stage, transforming a second one of the plurality of images to the particular time using the motion aspects of the target estimated in the first stage, and subtracting the transformed first one of the plurality of images at the particular time from the transformed second one of the plurality of images at the particular time to determine Δx ij , Δy ij , Δ⊖z ij ; and generate the three-dimensional image of the target using the refined motion aspects.