The invention discloses a single-pixel laser radar imaging device based on an embedded GPU (graphics processing unit), comprising a horizontal transmission motor (1), a vertical transmission motor (4), a laser ranging sensor base (2), a single-pixel femtosecond laser ranging sensor (3) and an embedded GPU base (5). The horizontal transmission motor drives the laser ranging sensor base to horizontally axially rotate; the vertical transmission motor and the horizontal transmission motor cascade and drive the laser ranging sensor to vertically axially move; the laser ranging sensor acquires information of a surrounding scenario by transmitting and receiving laser signals, and transmits the information into the embedded GPU base; the embedded GPU base performs uniform smooth surface reconstruction according to the input information and performs dynamic imaging displaying on a reconstructed three-dimensional smooth surface model. The single-pixel laser radar imaging device is small in sizeand low in power consumption, has high efficiency of sensing three-dimensional scenarios, is capable of dynamically detecting three-dimensional environmental information in a semispherical space, andis suitable for acquiring a target three-dimensional point cloud model.