“…With the rapid development of artificial intelligence, internet, automation and sensors, three-dimensional (3D) imaging laser radar has been widely used in many fields, such as topographic mapping, [1] atmospheric detection, [2,3] environmental sensing, [4,5] target detection [6] and automatic driving, [7] due to its high measurement accuracy, good directionality, fast speed and less affected from the ground clutter. [8,9] At present, the mainstream 3D imaging lidar solutions include mechanical rotary lidar, micro-electromechanical system (MEMS) scanning lidar, optical phased array (OPA) and flash lidar.…”