Fig. 1. Light field distribution after Mie scattering process

Fig. 2. Simulation procedure of Mie scattering model for light field transmission based on Monte Carlo^[43]

Fig. 3. Detective simulation results of TCSPC lidar system. (a) ; (b) TCSPC激光雷达系统的探测模拟仿真结果。(a) ；(b)

Fig. 4. Simulation results of aliasing between the target peak and the backscattered signal of the medium

Fig. 5. Denoising results of time histogram signal. (a) Distribution fitting result of backscattering signal ; (b) Target peak extraction result for differential signal 时间直方信号的去噪结果。(a) 后向散射信号 分布统计拟合结果；(b) 差分信号的目标峰提取结果

Fig. 6. Feature extraction results for target in medium 1

Fig. 7. Feature extraction results for target in medium 2

Fig. 8. Non-confocal TCSPC penetrating lidar system based on galvanometer scanning

Fig. 9. Imaging results of different concentrations of scattering media with a consumer-grade camera

Fig. 10. Statistical fitting results of signal distribution in a scattering scene

Fig. 11. Feature extraction results of target "S". (a) ; (b) ; (c) 目标“S”的特征提取结果。(a) ；(b) ；(c)

Fig. 12. Results of multi-objective experiments. (a) Scene graph; (b) Received signals and fitting results; (c) The intensity image after algorithm processing (bottom right is the raw intensity image); (d) The depth image after algorithm processing (unit: m)