Fast Online 3D Reconstruction of Dynamic Scenes From Individual Single-Photon Detection Events

Research output: Contribution to journalArticle

2 Citations (Scopus)
16 Downloads (Pure)

Abstract

In this paper, we present an algorithm for online 3D reconstruction of dynamic scenes using individual times of arrival (ToA) of photons recorded by single-photon detector arrays. One of the main challenges in 3D imaging using single-photon Lidar is the integration time required to build ToA histograms and reconstruct reliably 3D profiles in the presence of non-negligible ambient illumination. This long integration time also prevents the analysis of rapid dynamic scenes using existing techniques. We propose a new method which does not rely on the construction of ToA histograms but allows, for the first time, individual detection events to be processed online, in a parallel manner in different pixels, while accounting for the intrinsic spatiotemporal structure of dynamic scenes. Adopting a Bayesian approach, a Bayesian model is constructed to capture the dynamics of the 3D profile and an approximate inference scheme based on assumed density filtering is proposed, yielding a fast and robust reconstruction algorithm able to process efficiently thousands to millions of frames, as usually recorded using single-photon detectors. The performance of the proposed method, able to process hundreds of frames per second, is assessed using a series of experiments conducted with static and dynamic 3D scenes and the results obtained pave the way to a new family of real-time 3D reconstruction solutions.
Original languageEnglish
Pages (from-to)2666-2675
Number of pages10
JournalIEEE Transactions on Image Processing
Volume29
Early online date12 Nov 2019
DOIs
Publication statusPublished - 2020

Keywords

  • 3D reconstruction
  • Bayesian filtering
  • online estimation
  • single-photon Lidar

ASJC Scopus subject areas

  • Software
  • Computer Graphics and Computer-Aided Design

Fingerprint Dive into the research topics of 'Fast Online 3D Reconstruction of Dynamic Scenes From Individual Single-Photon Detection Events'. Together they form a unique fingerprint.

  • Cite this