Due to the different characteristics between the range and intensity images of ladar, block-matching and 3D filtering (BM3D) is used in both range image and intensity image denoising respectively. And the denoising results are compared and analyzed with those of non-local means (NLM) filtering. The results of experiments show as follows. For intensity image, homostasis BM3D algorithm, which has a better performance in restoring the edge of objects and keeping smoothness in homogeneous area, is better than homostasis NLM algorithm. Generally speaking, preserving right range value is significant for range image processing, so both BM3D and NLM are not sufficient ideal under the circumstance.