Fig. 1. Signal count reduction factor of different detectors

Fig. 2. Relationship between signal-to-noise ratio and albedo

Fig. 3. Echo pulse waveform

Fig. 4. Background noise distribution

Fig. 5. Probability distribution of errors at different detection rates

Fig. 6. Relationship between system error and detection rate

Fig. 7. Relationship between different parameters and detection rate. (a) Relationship between FWHM and detection rate; (b) relationship between peak detection rate and detection rate; (c) relationship between detection rate and the product of peak height and FWHM

Fig. 8. Input topography model

Fig. 9. Point clouds of event. (a) Δz=0.1 m; (b) Δz=0.2 m; (c) Δz=0.3 m; (d) Δz=0.39 m

Fig. 10. Output topography model

Fig. 11. Histogram of output topography

Fig. 12. Remote sensing image of ground object model

Fig. 13. Topography model after optimizing

Fig. 14. Topography histogram after optimizing