Fig. 1. The system structure and working principle diagram of the chaotic laser ranging system

Fig. 2. The spatial geometry of a laser beam after it is emitted and propagated for a distance

Fig. 3. The complete computational model of a chaotic laser ranging system based on physical process

Fig. 4. Visualized depth maps of part of the synthetic 3D scenes

Fig. 5. Visualized depth map reconstruction results of part of the scenes under different roughness

Fig. 6. Visualized depth map reconstruction results of part of the scenes under different ambient noise intensity

Fig. 7. Visualized depth map reconstruction results of part of the scenes under different multipath noise intensity

Fig. 8. Depth map reconstruction quality under the joint influence of different roughness，ambient noise and multipath noise

Fig. 9. Time-domain waveform of laser signal under different ambient noise intensity