Fig. 1. Diagram of open operation

Fig. 2. Optical image of the flash imaging lidar

Fig. 3. Picture of the target building

Fig. 4. The average intensity image of the target received by the flash lidar

Fig. 5. The mean intensity image after different preprocessed methods and its binarized intensity image.

Fig. 6. The target distance information obtained by adjacent frame different method after different preprocessing methods.

Fig. 7. SSIM maps of distance information obtained by different preprocessing methods