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Depth Imaging Through Smoke Using Nonparametric Estimation for Array Gm-APD LiDAR.

Yinbo Zhang1,2, Qingyu Hou2, Haoyan Wang1

  • 1National Key Laboratory of Laser Spatial Information, Institute of Opto-Electronic, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)
|June 12, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces a new algorithm for array Geiger-mode avalanche photodiode (Gm-APD) LiDAR systems to rapidly detect smoke. The method accurately identifies smoke occlusion, improving depth imaging in challenging environments.

Keywords:
Pearson correlationarray Gm-APD LiDARdepth imagingdynamic smoke occlusionnon-parametric estimation

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Area of Science:

  • Photonics and Optical Engineering
  • Remote Sensing Technology
  • Computer Vision

Background:

  • Array Gm-APD LiDAR systems are susceptible to performance degradation from dynamic smoke backscattering.
  • Conventional depth imaging struggles to identify smoke occlusion, compromising reconstructed depth image quality.

Purpose of the Study:

  • To develop a non-parametric algorithm for rapid smoke detection and depth imaging in array Gm-APD LiDAR.
  • To enhance target recovery and depth image quality in smoke-obscured environments.

Main Methods:

  • A non-parametric approach calculating the Pearson correlation coefficient between echo signals and instrument response function.
  • Real-time smoke interference identification, fast denoising, and depth image reconstruction.

Main Results:

  • Achieved 100% accuracy in occlusion discrimination in dynamic smoke (average attenuation length ≤ 5.1) using 250 frames.
  • Improved target recovery by 86.8% (0.71 vs. conventional) under 96% smoke occlusion (average attenuation length 2.29).

Conclusions:

  • The proposed algorithm offers significant practical value for array Gm-APD LiDAR.
  • Enables high-speed depth imaging in harsh atmospheric conditions with severe obscuration.