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Finite-Aperture Limits for Yaw Estimation in Confocal Non-Line-of-Sight Imaging.

Riccardo Romanelli1,2, Lorenzo Francesco Livi3, Francesco V Pepe1,4

  • 1Dipartimento Interuniversitario di Fisica, Università degli Studi di Bari Aldo Moro, 70125 Bari, Italy.

Journal of Imaging
|June 25, 2026
PubMed
Summary

Finite relay walls in non-line-of-sight (NLOS) time-of-flight imaging affect angular estimation. A switch-line criterion reveals how wall finiteness impacts target angle reconstruction, guiding future NLOS system designs.

Keywords:
confocal transient imagingcramér–rao boundfinite wall aperturefisher informationforward modelnon-line-of-sight imagingtime-of-flightyaw estimation

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Area of Science:

  • Optics and Photonics
  • Computational Imaging
  • Robotics and Computer Vision

Background:

  • Non-line-of-sight (NLOS) time-of-flight imaging utilizes transient images on a relay wall to reconstruct hidden scene geometry.
  • The physical constraints imposed by a finite relay wall on NLOS reconstruction, particularly angular estimation, remain incompletely understood.

Purpose of the Study:

  • To characterize the impact of finite relay wall dimensions on angular estimation in NLOS time-of-flight imaging.
  • To establish a geometric criterion for understanding the limits of angular information preservation.
  • To quantify the sensitivity of angular estimation to wall aperture clipping.

Main Methods:

  • Derivation of a geometric visibility criterion based on a vertical switch line on the relay wall.
  • Analysis of transient image features to determine the angular range for unique planar reconstruction.
  • Quantification of angular sensitivity using Fisher information of the normalized transient shape.

Main Results:

  • A vertical switch line on the wall defines an angular range where essential transient features for unique planar reconstruction are preserved.
  • Yaw sensitivity is non-uniformly distributed across the wall and diminishes as the finite aperture clips informative measurement parts.
  • The switch-line threshold represents a geometric transition in information rather than a complete loss of angular data.

Conclusions:

  • The study clarifies the limitations of angular estimation imposed by finite relay walls in NLOS imaging.
  • Findings provide practical guidance for interpreting existing confocal NLOS measurements and designing future systems.
  • Understanding the switch-line threshold is crucial for optimizing NLOS imaging performance with finite relay surfaces.