We demonstrate an upconversion imaging technique that transduces near-infrared signals to visible photon counting with low loss and high efficiency. By using far-detuned, 10-ns pump pulses for upconversion, fast voxel scanning is achieved with sub-centimeter ranging resolution over a designated spatial interval of 1.5 meters that is defined and fast-shifted by an electronic delay line. Aided by superior noise suppression, 50×50×1000 voxels can be measured at a remarkable speed of 10 frames per second, making it suitable for fast LiDAR applications in high noise and photon-starved environments, including those for autonomous navigation and aerospace missions.