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To enhance the performance of single photon lidar in remote sensing applications, an adaptive single photon detection method under fluctuating background noise is proposed in this work. Given a desired false alarm probability, an adaptive threshold can be determined according to the background noise in real time. As a result, the single photon lidar operating under fluctuating background noise can implement high sensitivity and low false alarm rate simultaneously. Experiments are performed to verify the proposed method, and the experiment
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