Fig. 1. Photon counting histogram without background noise

Fig. 2. Distribution of photon counting based on the different background noise

Fig. 3. Schematic of extracting peak by fitting

Fig. 4. Schematic of the matching method

Fig. 5. Schematic of the neighboring time-correlation

Fig. 6. Schematic of the nine neighborhood spatial correlation filter

Fig. 7. Laser imaging experiment base on fine beam scanning and Gm-APD FPA receiving

Fig. 8. The results of LiDAR imaging（2 Hz）

Fig. 9. Distribution of TOF（2 Hz）

Fig. 10. New photon counting statistical histogram obtained by different methods

Fig. 11. 3D image reconstruction under 100 Hz，40 Hz，20 Hz frame per second conditions，respectively