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Robust 3D Reconstruction of Dynamic Scenes From Single-Photon Lidar Using Beta-Divergences.

Quentin Legros, Julian Tachella, Rachael Tobin

    IEEE Transactions on Image Processing : a Publication of the IEEE Signal Processing Society
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    This study introduces a novel algorithm for fast 3D reconstruction of dynamic scenes using single-photon lidar. The method robustly estimates depth even with significant background noise, enabling clear imaging under challenging ambient illumination.

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    Area of Science:

    • Photonics and Imaging
    • Computer Vision
    • Signal Processing

    Background:

    • 3D imaging with single-photon lidar faces challenges from ambient illumination.
    • Background noise complicates traditional 3D reconstruction observation models and estimation procedures.
    • Existing methods often require complex iterative techniques to handle noise.

    Purpose of the Study:

    • To develop a fast, online 3D reconstruction algorithm for dynamic scenes using single-photon lidar.
    • To address the challenge of strong ambient illumination corrupting single-photon lidar data.
    • To enable robust depth estimation and scene analysis under adverse lighting conditions.

    Main Methods:

    • A new similarity measure for robust depth estimation is proposed.
    • A simple, non-iterative observation and estimation model is utilized.
    • A spatio-temporal model is integrated for dynamic scene analysis.
    • The algorithm is designed for scalability and parallel implementation.

    Main Results:

    • The new method provides robust depth estimation, overcoming background illumination issues.
    • A computationally attractive, non-iterative procedure is achieved without significant performance degradation.
    • Successful online 3D reconstruction of dynamic scenes under extreme ambient illumination was demonstrated.
    • Real-world experiments validated the algorithm's effectiveness for dynamic scene analysis at 325 m.

    Conclusions:

    • The proposed algorithm offers a computationally efficient and robust solution for 3D reconstruction of dynamic scenes using single-photon lidar.
    • The method effectively handles strong ambient illumination, a significant limitation in practical applications.
    • The approach facilitates advanced dynamic scene analysis in challenging real-world scenarios.