Fig. 1. Simulation of photon detection of a pixel. (a) Photon number; (b) probability density function (PDF); (c) cumulative distribution function (CDF)

Fig. 2. System structure diagram

Fig. 3. Diagram of light path

Fig. 4. Overall view of system

Fig. 5. Timing sequence of system

Fig. 6. Real-time image and time of flight histogram results of raw data. (a) Real-time image; (b) time of flight histogram

Fig. 7. Flowchart of image-based noise filtering method

Fig. 8. Real-time image and time of flight histogram results of processed data. (a) Real-time image; (b) time of flight histogram

Fig. 9. Time of flight histogram results of two-target example. Inset 1: zoomed in regions of two peaks; inset 2: low background noise rate in measurement

Fig. 10. Test scene and 3D image of targets. (a) Test scene; (b) 3D image of targets

Fig. 11. Results of simulated data. (a) Time of flight histogram, in which inset 1 shows zoomed in regions of two peaks and inset 2 shows low background rate; (b) 3D image

Fig. 12. Automobile imaging experiment. (a) Vehicle experimental platform; (b) system overall installation; (c) Google map of test area

Fig. 13. Lidar image of area near Baisha River Bridge

Fig. 14. Comparison between lidar images and Google maps. (a) Lidar images; (b) Google maps