Disclosed are Geiger-mode avalanche-photodiode-based LiDAR systems and methods that interrogate a detection region with a periodic series of optical pulses whose reflections are detected via a receiver comprising multiple Geiger-mode avalanche-photodiode-based pixels. The pixels of the receiver are configured to asynchronously disarm and rearm after absorption of a reflection. As a result, each pixel can detect multiple reflections of the same optical pulse during a single detection frame whose duration is defined by the periodicity of the series of optical pulses. Furthermore, each pixel can store time-of-flight data for each of multiple reflections detected during a detection frame. Each individual pixel of the receiver, therefore, is not blinded and inoperative for the remainder of a detection frame once it detects a first reflection.