Fig. 1. Schematic of experimental system for LiDAR with range-gated and synchronous scanning

Fig. 2. Relationship between beam scanning direction of galvanometer and control angles

Fig. 3. Schematic of 3D - 2D spatial projection transformation for camera imaging

Fig. 4. Dynamic processes of synchronous reference signal, scattered light and echo wave of reflected light under 6.5 times attenuation length in light-scattering environment

Fig. 5. Dynamic processes of synchronous reference signal, scattered light and echo wave of reflected light in different scattering environments

Fig. 6. Experimental results of 3D imaging. (a) Target to be tested and experimental environment; (b) waveforms of synchronous reference signal, scattered light, and reflected light with different distances under 6.5 times attenuation length; (c) 3D graph of target

Fig. 7. Experimental results of 2D imaging. (a) Target to be tested and experimental environment; (b) waveforms of reference light, scattered light, and reflected light with different intensities under 5.5 times attenuation length; (c) 2D imaging results in clear and scattered environments