Joint Depth and Reflectivity Estimation using Single-Photon LiDAR

要約

単一光子光の検出と範囲（SPライダーは、長距離、高精度の3D視力タスクの主要な技術として浮上しています。SPライダーでは、タイムスタンプは2つの補完的な情報をエンコードします。
従来の3Dヒストグラム構造は、主に動的なシーンで効果的ですが、このペーパーでは、タイムスタンプを直接処理する方が効率的です。
（2）共有情報を悪用して、合成および実際のSPライダーデータの両方で、既存のアプローチを上回り、優れたジョイント再構成の品質を達成する新しい再構成方法「Splider」。

要約(オリジナル)

Single-Photon Light Detection and Ranging (SP-LiDAR is emerging as a leading technology for long-range, high-precision 3D vision tasks. In SP-LiDAR, timestamps encode two complementary pieces of information: pulse travel time (depth) and the number of photons reflected by the object (reflectivity). Existing SP-LiDAR reconstruction methods typically recover depth and reflectivity separately or sequentially use one modality to estimate the other. Moreover, the conventional 3D histogram construction is effective mainly for slow-moving or stationary scenes. In dynamic scenes, however, it is more efficient and effective to directly process the timestamps. In this paper, we introduce an estimation method to simultaneously recover both depth and reflectivity in fast-moving scenes. We offer two contributions: (1) A theoretical analysis demonstrating the mutual correlation between depth and reflectivity and the conditions under which joint estimation becomes beneficial. (2) A novel reconstruction method, ‘SPLiDER’, which exploits the shared information to enhance signal recovery. On both synthetic and real SP-LiDAR data, our method outperforms existing approaches, achieving superior joint reconstruction quality.

arxiv情報

提供元, 利用サービス

arxiv.jp, Google