Fig. 1. Schematic diagram of 3D imaging using laser pulses and array detector

Fig. 2. (a) Spatial intensity distribution of original laser beam, (b) spatial intensity distribution of laser beam after reshaping

Fig. 3. Single-photon APD detector array and integrated camera

Fig. 4. Temporal distribution of a laser pulse

Fig. 5. Photon-counting result of 20 000 laser pulses with Monte Carlo simulation

Fig. 6. (a) Object photograph with 600 m away, (b) Intensity image with 1 000 frame data, (c) Intensity image with 20 000 frame data, (d) Range image with 1 000 frame data, (e) Range image with 20 000 frame data

Fig. 7. Intensity images reconstructed with 1 000 frame data.(a) , (b) , (c) , (d) 基于1 000帧数据重构的反射率图像。(a) ，(b) ，(c) ，(d)

Fig. 8. Range images reconstructed with 1 000 frame data. (a) , (b) , (c) , (d) 基于1 000帧数据重构的距离图像。(a) ，(b) ，(c) ，(d)