“…LiDAR has received much attention in recent years due to its simplicity, high accuracy, and utility in many applications, such as 3D city modeling, cartography, forest inventories, target recognition, and the digital terrain model [6][7][8][9]. To the best of our knowledge, LiDAR can be divided into two categories, i.e., discrete-echo LiDAR and full-waveform LiDAR [10,11]. A discrete-echo LiDAR records only a few discrete-echo backscattered waveform signals for each transmitted laser pulse and provides only 3D coordinates and range information about objects [8,12].…”