Fig. 1. Probability of the first-photon time at different light intensities

Fig. 2. Point target detection method based on the first-photon time

Fig. 3. Schematic of difference algorithm between the front and back frames

Fig. 4. Effects of different parameters on detection accuracy. (a) Time threshold percentage; (b) sparsity of modulation matrix; (c) modulation times

Fig. 5. Simulation results of dynamic multi-point target detection. (a) Reconstructed and denoising results and (b) corresponding 3D intensity map of dynamic multi-point target detection under 100 modulations; (c) reconstructed and denoising results and (d) corresponding 3D intensity map of dynamic multi-point target detection under 200 modulations

Fig. 6. Experimental system for point target detection

Fig. 7. Experimental results for point target detection. (a) Static point target detection results; (b) dynamic point target detection results

Fig. 8. Experimental results of dynamic multi-point target detection. (a) Reconstructed results of dynamic multi-point target detection; (b) dynamic multi-point target detection results after denoising; (c) original trajectory of dynamic multi-point target; (d) experimental detection trajectory of dynamic multi-point target