  The ability to measure and record high-resolution depth images at long
stand-off distances is important for a wide range of applications, including
connected and automotive vehicles, defense and security, and agriculture and
mining. In LIDAR (light detection and ranging) applications, single-photon
sensitive detection is an emerging approach, offering high sensitivity to light
and picosecond temporal resolution, and consequently excellent
surface-to-surface resolution. The use of large format CMOS single-photon
detector arrays provides high spatial resolution and allows the timing
information to be acquired simultaneously across many pixels. In this work, we
combine state-of-the-art single-photon detector array technology with non-local
data fusion to generate high resolution three-dimensional depth information of
long-range targets. The system is based on a visible pulsed illumination system
at 670~nm and a 240~$\times$ 320 pixel array sensor, achieving sub-centimeter
precision in all three spatial dimensions at a distance of 150 meters. The
non-local data fusion combines information from an optical image with sparse
sampling of the single-photon array data, providing accurate depth information
at low signature regions of the target.
