Fig. 1. Sketch of emitting beam and receiving field of view on the section

Fig. 2. Curve of R_s with the changes in α_r

Fig. 3. Curve of R_d with the changes in α_r

Fig. 4. Three-dimensional image of R_s

Fig. 5. Three-dimensional image of R_d

Fig. 6. Iteration process of α_r

Fig. 7. Iteration process of d

Fig. 8. Laser distance experiment bench

Fig. 9. Laser multi-ranging experiment

Fig. 10. Echo signal when the target is at 1 m, 15 m and 25 m