Compared with conventional laser ranging technique based on measuring the phase shift of echo pulse and start pulse, pulsed laser ranging based on time-of-flight (TOF) method can achieve longer distance and higher measurement rate [
1,
2]. With a scanning mirror [
3] or using avalanche photodiode (APD) array as a detector, the pulsed laser range finder could scan a target and get the distance image of the target [
4–
6]. This technique is widely known as light detection and ranging (LiDAR). LiDAR as a novel active detection technology has been widely applied in fields such as, topographic mapping, marine surveying, atmospheric sounding, three-dimensional reality, robot vision, vehicle navigation, space science, and so on [
7].