Fig. 1. Diagrams of (a) transmission type and (b) reflection type Mie scattering lidar systems

Fig. 2. (a)(c) Optical structural diagrams and (b)(d) spot diagrams of signal receiving unit of lidar system

Fig. 3. Ray tracing of stray light in a transmission type optical system

Fig. 4. Receiving powers on detector surface source after reflection by (a) 1st, (b) 2nd, (c) 3rd, (d) 4th, (e) 5th, and (f) 6th mirror

Fig. 5. (a) Light tracing of reflection of transmission type lens surface; (b) actual imaging effect of detector's surface source; (c) light power curve received by detector's surface source

Fig. 6. (a) Light tracing of reflection light and scattering light of transmission type lens surface; (b) actual imaging effect of detector's surface source; (c) light power curve received by detector's surface source

Fig. 7. (a) Simulated and (b) measured data curves

Fig. 8. Echo signal intensity of (a) transmission type and (b) reflection type laser lidars

Fig. 9. Echo signal intensity of (a) transmission type and (b) reflection type laser lidars with attenuation piece

Fig. 10. Signal linearity of far-field echo after the attenuation of (a) transmission type and (b) reflection type lidars

Fig. 11. Signal linearity of near-field echo after the attenuation of (a) transmission type and (b) reflection type lidars