The performance of LiDAR with Single Photon Avalanche Diode (SPAD) detectors can degrade seriously when a shortage of photons occurs in adverse environments. It is desirable for SPAD LiDAR to accumulate enough photons so that reliable target detection is maintained under such conditions. It is proposed in this letter to adopt random laser-emitting schemes, such as Stochastic Pulse Position Modulation (SPPM), to have more laser pulses illuminated on targets to increase reflected photons. Accordingly, at the receiver side a novel method, namely Multi-Start-Multi-Stop (MSMS), is proposed to work with SPPM to generate histograms for further processing of target detection and ranging. Theoretical analysis and experiments show that the SPPM+MSMS LiDAR can produce, with far less integration time, signal levels comparable to that of conventional LiDAR.