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An approach is proposed, and its potentialities are studied, for single-sided gamma-ray in-depth sensing and tomography of dense opaque media. The approach is based on lidar (LIgth Detection And Ranging) principle or, in the present case, graydar (Gamma RAY Detection And Ranging) principle, that is, time-to-range resolved detection of the backscattering-due radiative returns from the probed object irradiated by pulsed gamma-photon pencil beams. The basic analysis and data processing delta-pulse single-scattering graydar equation is formulated by analogy with the lidar equation and is shown to be applicable, under some determinate conditions, to the problems of gamma-ray in-depth profiling of dense media. It is shown analytically and by computer simulations that the approach developed in the work would enable one, at large-enough but reasonable sensing photon fluxes and measurement time intervals, to determine with good controllable accuracy and resolution the location, the material content, and the mass density of different homogeneous ingredients inside the probed object as well as the mass (or electron) density distribution within one-material objects. This approach can be widely applied, e.g., for nondestructive material examination in industry and aviation, detection of landmines and explosives, investigating the constitution of archeological artifacts, etc. Index Terms--Compton scattering, gamma-ray, lidar, nondestructive evaluation, tomography.