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In this paper, the three-dimensional (3D) high-resolution image is attained in real-time by a Multiple-Input-Multiple-Output (MIMO) radar system with single Orthogonal-Frequency-Division-Multiplexing (OFDM) pulse. First, to build the orthogonal transmit waveform set for MIMO transmission, we utilize complex orthogonal designs (CODs) for OFDM subcarrier modulation. Based on the OFDM modulation, a preprocessing method is developed for transmit waveform separation without conventional matched filtering. The result array manifold is the Kronecker product of the steering vectors of subcarrier/transmit antenna/receive antenna uniform linear arrays (ULAs). Then, the high-resolution image of target is attained by the Multidimensional Unitary Estimation of Signal Parameters via Rotational Invariant Techniques (MD-UESPRIT) algorithm. 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