Raman scattering in single-mode optical fibers is exploited to generate multispectral light from a green nanolaser with high pulse repetition rate. Each pulse triggers a picosecond camera and measures the distance by time-of-flight in each of the 0.5 Mpixels. Three-dimensional images are then constructed with submillimeter accuracy for all visible colors. The generation of a series of Stokes peaks by Raman scattering in a Si fiber is discussed in detail and the laser radar technique is demonstrated. The data recording takes only a few seconds, and the high accuracy 3D color imaging works at ranges up to approximately 200 m. Applications for optical tomography in highly scattering media such as water and human tissue are mentioned.