Laser detection and ranging (LADAR) systems can be used to provide 2-D and 3-D images of scenes. Generally, 2-D images possess superior spatial resolution but without range data due to the density of their focal plane arrays. A 3-D LADAR system can produce range-to-target data at each pixel but lacks the 2-D system's superior spatial resolution. We develop an algorithm using an expectation maximization approach to estimate both 3-D LADAR range and the bias associated with a 3-D LADAR system. The algorithm we develop demonstrates both spatial and range resolution improvement over standard interpolation techniques using both real and simulated 3-D and 2-D LADAR data.