Nondestructive imaging based on a millimeter-wave radar system is discussed and configured. 94-GHz frequency-modulated continuous-wave radar with standard gain horn antennas performs ranging to the obstacles and targets with a theoretical range resolution of approximately 8 cm. An inertial measurement unit is utilized for the detection of heading angles of the radar head, and finally, three-dimensional ranging is realized. Produced 3D point clouds show clear obstacle locations by oscillation the handheld radar head by own hands. We also discuss the tradeoff relationships between an antenna beamwidth and dead zone under antenna bistatic configuration: physical separation of transmitter and receiver antennas.