Mitigation of Poisson noise in active optical imaging conventionally requires hundreds of detected photons at each image pixel.  In contrast, we have demonstrated simultaneous acquisition of range (with sub-pulse duration resolution) and reflectivity (with 4-bit resolution) using only one detected photon per pixel, even in the presence of high background noise.  We achieve this through modeling the photon detection point process across illumination pulses and a novel method for censoring detection events caused by noise.