Fig. 1. The composition of the crossed delay line position-sensitive anode MCP detector and the basic principle of photon synchronization timing and positioning

Fig. 2. Measurement mechanism of reflected photons on flight time and two-dimensional space position

Fig. 3. Conception of photon counting laser 3D imaging scheme based on MCP/CDL

Fig. 4. Effect of the number of reflected photoelectrons and pixels at the same height on the probability of detection

Fig. 5. The variation of signal-to-noise ratio with the number of signal photoelectrons and number of laser pulse

Fig. 6. Variance curve of distance estimation variance and its influencing factors

Fig. 7. End-to-end Monte Carlo simulation process

Fig. 8. 3D space target end-to-end simulation example

Fig. 9. The relationship between background irradiance and ranging accuracy

Fig. 10. Flowchart and simulation example of spatial super-resolution based on intensity-guided depth upsampling

Fig. 11. Schematic diagram of the super-resolution reconstruction principle of sub-time-resolved delayed scan

Fig. 12. Sub-time-resolved scanning super-resolution reconstruction simulation example

Fig. 13. MCP/CDL detector

Fig. 14. Principle prototype and test scene of MCP/CDL photon counting laser 3D imaging system

Fig. 15. Laser 3D imaging workflow and scene after laser launch

Fig. 16. The first group of photon counting laser 3D imaging experiments

Fig. 17. Scanning mode laser 3D radar system block diagram

Fig. 18. The target used in the experiment and the 3D imaging results