Light Sensing and Ranging (LiDAR) is a widely used technique for reconstructing three-dimensional (3D) scenes in a variety of applications, including augmented reality and virtual reality, automotive, industrial machine vision, earth mapping, planetary science, etc. Recent progresses in 3D stacking technologies provided an important step forward in SPAD or SiPM array development, allowing to reach smaller pitch, higher pixel count and more complex processing electronics. However, these also have certain disadvantages that should be considered in specific applications that as limited dynamic range, afterpulsing, crosstalk, and noise. For example, SiPM exhibit dark counts, which are spurious signals generated in the absence of incident photons. Dark counts contribute to the noise floor of SiPMs and can limit their sensitivity, especially in low-light conditions. Efforts are made to reduce dark counts, but they still exist to some extent. Therefore, we have quantitatively analyzed the limits of SiPM compared to APD in a noisy environment in this paper. For example, when the target size is constant, and the beam size is larger than the object, the SNR (Signal-to-Noise Ratio) of the pulsed signal due to ambient light can be analyzed mathematically.
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