Gait recognition is a leading remote-based identification method, suitable for applications in forensic cases, surveillance, and medical studies. We present Glidar3DJ, a model-based gait recognition methodology, using a skeleton model extracted from sequences generated by a single flash lidar camera. Compared with Kinect, a flash lidar camera has a drastically extended range (> 1000 meters) and its performance is not affected in outdoor. However, the low resolution and noisy imaging process of lidar negatively affects the performance of state-of-the-art skeleton-based systems, generating a significant number of outlier skeletons. We propose a rule-based filtering mechanism that adopts robust statistics to correct for erroneous skeleton joint measurements.