Automatic target recognition (ATR) relies on images from various sensors including 3-D imaging ladar. The accuracy of recognizing a target is highly dependent on the number of points on the target. The highest spatial frequencies of a target are located on edges. Therefore, a higher sampling density is desirable at these locations. A ladar receiver captures information on edges by detecting two surfaces when the beam lands partially on one surface and partially on another if the distance between the surfaces is greater than the temporal pulse width of the laser.