Fig. 1. System schematic of land radar

Fig. 2. Comparison of raw signal waveform and digitized signal waveform. (a) Saturated signal; (b) unsaturated signal

Fig. 3. Signal waveforms from lidar. (a) Main signal and echo signal; (b) main signal detail; (c)-(i) echo signal details

Fig. 4. Sample echoes obtained by theoretical simulation calculation. (a) Ideal echo; (b) small signal with large noise; (c) saturated signal with large noise; (d) small asymmetry; (e) large asymmetry; (f) very small signal

Fig. 5. Structure of one-dimensional convolutional network model

Fig. 6. Trends of classification accuracy and loss in training. (a) Classification accuracy versus training batch; (b) classification loss versus training batch; (c) classification accuracy versus training epoch; (d) classification loss versus training epoch

Fig. 7. Echo signal parameter distributions. (a) Signal amplitude histogram; (b) signal width histogram

Fig. 8. Comparison of fly time of Gaussian fitting and fly time of deep learning

Fig. 9. Partial point clouds of an island in field flight experiment

Fig. 10. Plane fitting residual distribution histograms. (a) Gaussian fitting method; (b) deep learning method