“…Most single-photon ranging systems use the time-of-flight (TOF) method [7,8] . The time correlated single-photon counting (TCSPC) [9][10][11] technique is widely used to extend the measurement sensitivity and precision, when the laser pulse energy remains unchanged. On the other hand, the multi-beam method is introduced for single-photon Lidar to improve the measurement speed [12][13][14][15] .…”