3D Target Detection and Spectral Classification for Single-photon LiDAR Data

3D single-photon LiDAR imaging has an important role in many applications. However, full deployment of this modality will require the analysis of low signal to noise ratio target returns and a very high volume of data. This is particularly evident when imaging through obscurants or in high ambient background light conditions. This paper proposes a multiscale approach for 3D surface detection from the photon timing histogram to permit a significant reduction in data volume. The resulting surfaces are background-free and can be used to infer depth and reflectivity information about the target. We demonstrate this by proposing a hierarchical Bayesian model for 3D reconstruction and spectral classification of multispectral single-photon LiDAR data. The reconstruction method promotes spatial correlation between point-cloud estimates and uses a coordinate gradient descent algorithm for parameter estimation. Results on simulated and real data show the benefits of the proposed target detection and reconstruction approaches when compared to state-of-the-art processing algorithms

Fast Task-Based Adaptive Sampling for 3D Single-Photon Multispectral Lidar Data

3D single-photon LiDAR imaging plays an important role in numerous applications. However, long acquisition times and significant data volumes present a challenge to LiDAR imaging. This paper proposes a task-optimized adaptive sampling framework that enables fast acquisition and processing of high-dimensional single-photon LiDAR data. Given a task of interest, the iterative sampling strategy targets the most informative regions of a scene which are defined as those minimizing parameter uncertainties. The task is performed by considering a Bayesian model that is carefully built to allow fast per-pixel computations while delivering parameter estimates with quantified uncertainties. The framework is demonstrated on multispectral 3D single-photon LiDAR imaging when considering object classification and/or target detection as tasks. It is also analysed for both sequential and parallel scanning modes for different detector array sizes. Results on simulated and real data show the benefit of the proposed optimized sampling strategy when compared to fixed sampling strategies.