根据漫反射激光测距回波的误差特性，提出了一种基于运动补偿和抗差估计的回波光子实时检测方法。通过运动补偿增加了光子积累数量，可提供可靠的初值。在此基础上，采用抗差估计策略剔除观测粗差，有效实现了回波光子的实时在线检测。实验结果表明，在低信噪比情况下，该方法能够有效地抑制噪声影响，并能有效解决漫反射激光测距的实时信号检测问题。

According to the error characteristics of the echo of diffuse reflection laser ranging, a real-time echo-photon detection method is proposed based on the motion compensation and robust estimation. By using motion compensation, one can increase the number of accumulation photons to provide a reliable initial value. Based on this, by adoption of robust estimation scheme to removing gross errors of observation data, one can realize the real-time online detection of echo-photon effectively. Experiment results show that, under the condition of low signal-to-noise ratio, the method can not only suppress the impact of noises, but also effectively solve the real-time signal detection problem in diffuse reflection laser ranging.