Streak tube imaging lidar (STIL) is a new type of flash laser radar,and its receiving detector is the transient optical streak tube. The characteristic of STIL is of wide field of view and high resolution. It has two types,single slit and multiple slits. Because the streak tube can not directly output the four-dimensional image (three-dimensional (3D) range image and one-dimensional (1D) intensity image),for the streak images of the two types,peak-detection algorithm is used to reconstruct the far-distance target in this paper. And the complete four-dimensional images of STIL are obtained. The experiment results show that STIL is an imaging device of high resolution and high frame frequency,so it will have promising application.