The disclosed LiDAR systems and methods are for object detection. The LiDAR system for object detection comprising: i) a receiver configured to receive a light signal reflected from an object; ii) a digital converter configured to convert the received light signal into a digital signal; iii) a pre-processor configured to pre-process the digital signal based on median filtering and to generate a pre-processed signal corresponding to the digital signal; and iv) a processor configured to analyze the pre-processed signal based on a threshold technique to detect a presence of the object.