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Real-time 3D reconstruction from single-photon lidar data using plug-and-play point cloud denoisers

Tachella, Julian and Altmann, Yoann and Mellado, Nicolas and McCarthy, Aongus and Tobin, Rachael and Buller, Gerald S. and Tourneret, Jean-Yves and McLaughlin, Steve Real-time 3D reconstruction from single-photon lidar data using plug-and-play point cloud denoisers. (2019) Nature Communications. 1-6. ISSN 2041-1723

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Official URL: https://doi.org/10.1038/s41467-019-12943-7

Abstract

Single-photon lidar has emerged as a prime candidate technology for depth imaging through challenging environments. Until now, a major limitation has been the significant amount of time required for the analysis of the recorded data. Here we show a new computational framework for real-time three-dimensional (3D) scene reconstruction from single-photon data. By combining statistical models with highly scalable computational tools from the computer graphics community, we demonstrate 3D reconstruction of complex outdoor scenes with processing times of the order of 20 ms, where the lidar data was acquired in broad daylight from distances up to 320metres. The proposed method can handle an unknown number of surfaces in each pixel, allowing for target detection and imaging through cluttered scenes. This enables robust, real-time target reconstruction of complex moving scenes, paving the way for single-photon lidar at video rates for practical 3D imaging applications.

Item Type:Article
Additional Information:This article is licensed under a Creative Commons Attribution 4.0 International License
Audience (journal):International peer-reviewed journal
Uncontrolled Keywords:
Institution:French research institutions > Centre National d'Études Spatiales - CNES (FRANCE)
French research institutions > Centre National de la Recherche Scientifique - CNRS (FRANCE)
Université de Toulouse > Ecole Nationale de l'Aviation Civile - ENAC (FRANCE)
Université de Toulouse > Institut National Polytechnique de Toulouse - Toulouse INP (FRANCE)
Université de Toulouse > Institut Supérieur de l'Aéronautique et de l'Espace - ISAE-SUPAERO (FRANCE)
Other partners > Collins Aerospace (FRANCE)
Other partners > Thales (FRANCE)
Other partners > Telecom ParisTech (FRANCE)
Université de Toulouse > Université Toulouse III - Paul Sabatier - UT3 (FRANCE)
Université de Toulouse > Université Toulouse - Jean Jaurès - UT2J (FRANCE)
Université de Toulouse > Université Toulouse 1 Capitole - UT1 (FRANCE)
Other partners > Direction Générale de l’Aviation Civile - DGAC (FRANCE)
Other partners > Heriot-Watt University (UNITED KINGDOM)
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Deposited On:04 Feb 2020 13:33

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