Single-Photon Depth Imaging Using a Union-of-Subspaces Model
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Shapiro_Single-photon.pdf
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Author(s)
Shin, Dongeek
Shapiro, Jeffrey H.
Goyal, Vivek K
Date Issued
September 2015
Journal
IEEE Signal Processing Letters
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Shin, Dongeek, Jeffrey H. Shapiro, and Vivek K Goyal. “Single-Photon Depth Imaging Using a Union-of-Subspaces Model.” IEEE Signal Process. Lett. 22, no. 12 (December 2015): 2254–2258.
Version
Original manuscript
Abstract
Light detection and ranging systems reconstruct scene depth from time-of-flight measurements. For low light-level depth imaging applications, such as remote sensing and robot vision, these systems use single-photon detectors that resolve individual photon arrivals. Even so, they must detect a large number of photons to mitigate Poisson shot noise and reject anomalous photon detections from background light. We introduce a novel framework for accurate depth imaging using a small number of detected photons in the presence of an unknown amount of background light that may vary spatially. It employs a Poisson observation model for the photon detections plus a union-of-subspaces constraint on the discrete-time flux from the scene at any single pixel. Together, they enable a greedy signal-pursuit algorithm to rapidly and simultaneously converge on accurate estimates of scene depth and background flux, without any assumptions on spatial correlations of the depth or background flux. Using experimental single-photon data, we demonstrate that our proposed framework recovers depth features with 1.7 cm absolute error, using 15 photons per image pixel and an illumination pulse with 6.7-cm scaled root-mean-square length. We also show that our framework outperforms the conventional pixelwise log-matched filtering, which is a computationally-efficient approximation to the maximum-likelihood solution, by a factor of 6.1 in absolute depth error.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/lsp.2015.2475274
