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首页> 外文期刊>Nature Communications >Real-time 3D reconstruction from single-photon lidar data using plug-and-play point cloud denoisers
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Real-time 3D reconstruction from single-photon lidar data using plug-and-play point cloud denoisers

机译：使用即插即用点云Denoisers从单光子激光雷达数据中实时三维重建

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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 320?metres. 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.
机译：单光子利达作为通过具有挑战性环境进行深度成像的主要候选技术。到目前为止，主要限制是分析记录数据所需的大量时间。在这里，我们为单光子数据显示了用于实时三维（3D）场景重建的新计算框架。通过将具有高度可扩展的计算工具的统计模型与计算机图形社区相结合，我们展示了与20？MS的加工时间的复杂户外场景的3D重建，其中LIDAR数据在高达320？米的距离中获取了LIDAR数据。所提出的方法可以在每个像素中处理未知数量的表面，允许通过杂乱场景进行目标检测和成像。这使得复杂的移动场景的强大实时目标重建，为实际3D成像应用的视频速率下铺平了单光子激光器的方式。

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