The invention discloses a 
laser non-visual-field three-dimensional imaging scene modeling method based on a 
point cloud model. The method comprises the following steps of firstly, setting non-visual-field scene space parameters, imaging 
system parameters and imaging index parameters, and determining a visible region of a specified scanning point-to-
point cloud target; secondly, segmenting the visible region 
point cloud into a plurality of micro-point clouds by utilizing space voxels; detecting angular points to form micro-surface elements, estimating the region, the 
centroid and the surface normal of each micro-
surface element, and establishing an energy transmission model of signals emitted from a 
laser through three times of 
diffuse reflection and received by a 
detector in combination with imaging 
system parameters to obtain echo energy and echo 
photon distribution histograms, and finally, setting different scanning points, and repeating the above steps to obtain a 
photon distribution 
histogram of 
multiple echo signals. The modeling method is advantaged in that the process that signals are emitted from a 
laser, subjected to three times of 
diffuse reflection of an intermediate surface and a point cloud target with three-dimensional characteristics and finally detected and counted is simulated for the first time.