3D reconstruction using single-photon Lidar data exploiting the widths of the returns

Julián Tachella, Yoann Altmann, Stephen McLaughlin, Jean-Yves Tourneret

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Abstract

Single-photon light detection and ranging (Lidar) data can be used to capture depth and intensity profiles of a 3D scene. In a general setting, the scenes can have an unknown number of surfaces per pixel (semi-transparent surfaces or outdoor measurements), high background noise (strong ambient illumination), can be acquired by systems with a broad instrumental response (non-parallel laser beam with respect to the target surface) and with possibly high attenuating media (underwater conditions). The existing methods generally tackle only a subset of these problems and can fail in a more general scenario. In this paper, we propose a new 3D reconstruction algorithm that can handle all the aforementioned difficulties. The novel algorithm estimates the broadening of the impulse response, considers the attenuation induced by scattering media, while allowing for multiple surfaces per pixel. A series of experiments performed in real long-range and underwater Lidar datasets demonstrate the performance of the proposed method.
Original languageEnglish
Title of host publication2019 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)
PublisherIEEE
Pages7815-7819
Number of pages5
ISBN (Electronic)9781479981311
DOIs
Publication statusPublished - 17 Apr 2019
Event44th IEEE International Conference on Acoustics, Speech, and Signal Processing 2019 - Brighton, United Kingdom
Duration: 12 May 201917 May 2019

Publication series

NameIEEE International Conference on Acoustics, Speech and Signal Processing
ISSN (Electronic)2379-190X

Conference

Conference44th IEEE International Conference on Acoustics, Speech, and Signal Processing 2019
Abbreviated titleICASSP 2019
CountryUnited Kingdom
CityBrighton
Period12/05/1917/05/19

Keywords

  • 3D reconstruction
  • Bayesian statistics
  • Inverse problems
  • Lidar
  • low-photon imaging

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Electrical and Electronic Engineering

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    Tachella, J., Altmann, Y., McLaughlin, S., & Tourneret, J-Y. (2019). 3D reconstruction using single-photon Lidar data exploiting the widths of the returns. In 2019 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP) (pp. 7815-7819). [8683075] (IEEE International Conference on Acoustics, Speech and Signal Processing). IEEE. https://doi.org/10.1109/ICASSP.2019.8683075