We present a photon counting range-intensity image strategy based on a single-photon detector in low-light level environments. In this Letter, a composite modulation method over the pulse sequence was used for the first time, to the best of our knowledge, which combined pulse-position modulation and pulse-intensity modulation. This composite modulation method could obtain range and intensity of the detected target at the same time. Besides, angle-angle information could be provided from the scanner or detector array. Thus, a range-intensity image of the target became feasible. For demonstrating this photon counting range-intensity image strategy, a proof-of-principle laboratory system was established. In low-light level environments, a range-intensity image of multiple similar targets was obtained successfully with the range accuracy of centimeter level and intensity error of 1%. Compared with the range image, a range-intensity image could better reorganize and identify similar targets.
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