Single-photon 3D imaging of room-scale scenes through scattering media

Light detection and ranging (LiDAR) utilizes eye-safe laser beams to perceive the world in three-dimensional (3D) detail, offering machines and computers with an accurate representation of their surroundings. This technology is widely employed in metrology, environmental monitoring, archaeology, and robotics. However, the presence of scattering media in the optical path, such as fog, dust, or translucent plates, will cause light scattering and occlude direct observation of the scene. To address scattering distortions, conventional methods require the prior knowledge of the scattering media or the target location, limiting their applicability outside the laboratory. Leveraging single-photon sensitivity and time-gated technology, single photon LiDAR emerges as a promising solution for active scattering imaging. In this study, we construct a single-photon LiDAR prototype and demonstrate its capability to perform 3D imaging of a room-scale (1.1 m × 1.1 m × 4 m) hidden scene behind a ground glass diffuser located approximately 50 meters away from the imaging system. Incorporating phase function to construct the forward model and considering the system-induced temporal broadening, our method is capable of producing reliable results behind various scattering layers. The results indicate potential applications such as remote non-invasive testing and detection in challenging scenarios.