Fig. 1. Schematic of the three-dimensional imaging lidar system.

Fig. 2. Optical transmitting and receiving system.

Fig. 3. Coordinate system transformation of three-dimensional imaging.

Fig. 4. Photoelectron sequence when (a) detector efficiency is taken into account, (b) detector efficiency and gate are both taken into account, and (c) detector efficiency, gate, and dead-time are taken into account. (d) The results of 50 simulations and the mean values of actual detector efficiency.

Fig. 5. Experiment system of testing the actual detector efficiency.

Fig. 6. Number of photoelectrons in 10 tests.

Fig. 7. Results of the 50 measurements.

Fig. 8. Top view of the point-cloud of the three-dimensional imaging (on the left), and a google map of the same place (on the right).

Fig. 9. Front view of point-cloud of the three-dimensional imaging (on the left), and a photograph of the same place (on the right).

Table 1. Simulation Parameters of Actual Detector Efficiency

Table 2. Parameters of Outdoor Ranging Test

Table 3. Parameters of Outdoor Three-Dimensional Imaging

Table 4. SNR of Landmark Target