Explorers attempting to land on a lunar or planetary surface must use three-dimensional image sensors to measure landing site topography for obstacle avoidance. Requirements for such sensors are similar to those mounted on vehicles and include the need for time synchronization within one frame. We introduce a 1K (32 x 32)-pixel three-dimensional image sensor using an array of InGaAs Geiger-mode avalanche photodiodes capable of photon counting in eye-safe bands and present evaluation results for sensitivity and resolution.