Fig. 1. The aggregation effect of photon counting events on the time axis

Fig. 2. Algorithm flow diagram

Fig. 3. Real depth and intensity image of scene, and two groups of comparative experiments in the case of 10 ms and 1 ms integration time

Fig. 4. Schematic diagram of long range lidar prototype

Fig. 5. Original depth image of 2 km building

Fig. 6. 2 km building imaging with different data volume imaging effect map

Fig. 7. Depth image and three-dimensional point cloud image of 1 km power tower target