Acquisition of multiple events in direct Time-of-Flight LiDAR using Single-Photon Avalanche Diodes

Single-Photon Avalanche Diode (SPAD)-based 'Light Detection And Ranging' (LiDAR) systems often use the first photon measurement principle to acquire ranging information. While those systems provide accurate distance measurements, they can easily saturate in high background scenarios. Recent improvements in SPAD quenching circuit technology open up the opportunity for SPAD LiDAR systems to detect multiple photons while measuring with a single laser pulse, partially circumventing this challenge. The theoretical framework for the distribution of higher order single photon detections is presented and discussed how the sensor's typical quenching times influence it. Measurements with a SPAD circuitry capable of detecting multiple events in a single measurement are presented. Differences to first-photon and continuous detection implementations are discussed and advantages in high background light scenarios are shown.