Multi-beam single-photon-counting three-dimensional imaging lidar

Development of a near-infrared single-photon 3D imaging LiDAR based on 64×64 InGaAs/InP array detector and Risley-prism scanner

A near-infrared single-photon lidar system, equipped with a 64×64 resolution array and a Risley prism scanner, has been engineered for daytime long-range and high-resolution 3D imaging. The system's detector, leveraging Geiger-mode InGaAs/InP avalanche photodiode technology, attains a single-photon detection efficiency of over 15% at the lidar's 1064 nm wavelength. This efficiency, in tandem with a narrow pulsed laser that boasts a single-pulse energy of 0.5 mJ, facilitates 3D imaging capabilities for distances reaching approximately 6 kilometers. The Risley scanner, composing two counter-rotating wedge prisms, is designed to perform scanning measurements across a 6-degree circular field-of-view. Precision calibration of the scanning angle and the beam's absolute direction was achieved using a precision dual-axis turntable and a collimator, culminating in 3D imaging with an exceptional scanning resolution of 28 arcseconds. Additionally, this work has developed a novel spatial domain local statistical filtering framework, specifically designed to separate daytime background noise photons from the signal photons, enhancing the system's imaging efficacy in varied lighting conditions. This paper showcases the advantages of array-based single-photon lidar image-side scanning technology in simultaneously achieving high resolution, a wide field-of-view, and extended detection range.

High-resolution multi-spectral snapshot 3D imaging with a SPAD array camera

Currently, mainstream light detection and ranging (LiDAR) systems usually involve a mechanical scanner component, which enables large-scale, high-resolution and multi-spectral imaging, but is difficult to assemble and has a larger system size. Furthermore, the mechanical wear on the moving parts of the scanner reduces its usage lifetime. Here, we propose a high-resolution scan-less multi-spectral three-dimensional (3D) imaging system, which improves the resolution with a four-times increase in the pixel number and can achieve multi-spectral imaging in a single snapshot. This system utilizes a specially designed multiple field-of-view (multi-FOV) system to separate four-wavelength echoes carrying depth and spectral reflectance information with predetermined temporal intervals, such that one single pixel of the SPAD array can sample four adjacent positions through the four channels' FOVs with subpixel offset. The positions and reflectivity are thus mapped to wavelengths in different time-bins. Our results show that the system can achieve high-resolution multi-spectral 3D imaging in a single exposure without scanning component. This scheme is the first to realize scan-less single-exposure high-resolution and multi-spectral imaging with a SPAD array sensor.

Study of 256 fiber array biaxial LiDAR optical assembly measurements

This paper presents a method for measuring the optical assembly results based on multi-beam biaxial LiDAR. This method analyzes the optical assembly parameters of a LiDAR system affecting the LiDAR operation, and an experimental measurement system is built using a collimator to simulate the infinity imaging field. An InGaAs infrared camera is used to take pictures of the laser spot from the LiDAR transmitter and receiver, and then fit the laser spot images with Gaussian equations to calculate the biaxial LiDAR optical assembly results. Finally, the possible effecting factors of LiDAR alignment results are analyzed. This method is experimentally proven to achieve the measurement of the optical assembly results of a large scale multi-beam LiDAR. The possibility of further optimizing the measurement method by shaping the transmit laser is also reported.

Reconfigurable coaxial single-photon LIDAR based on the SPAD array

The single-photon avalanche diode (SPAD) array with time-to-digital converter (TDC) circuits on each pixel is an excellent candidate detector for imaging LIDAR systems. However, the low fill-factor of the SPAD array does not allow for efficient use of laser energy when directly adopted in a LIDAR system. Here, we design a reconfigurable coaxial single-photon LIDAR based on the SPAD array and diffractive optical elements (DOEs). We use the DOE and beam expander to shape the laser beam into a laser dot matrix. The total divergence angle of the DOE spot beam is strictly matched to the total field of view (FOV) angle of the SPAD array. Meanwhile, each focused beamlet is individually matched to every active area of the SPAD array detector, which increases the use of output energy about 100 times compared to the diffusion illumination system. Besides, the system uses the active area as the minimum pixel and can support sub-pixel scanning, resulting in higher resolution images. Through this coaxial structure, two different telescope systems after transceiver switching can be reconfigured for imaging targets at different distances. Based on our single-photon LIDAR system, we achieved 3D imaging of targets at 100 m and 180 m using two different telescope configurations.

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 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.

Long range 3D imaging through atmospheric obscurants using array-based single-photon LiDAR

Single-photon light detection and ranging (LiDAR) has emerged as a strong candidate technology for active imaging applications. In particular, the single-photon sensitivity and picosecond timing resolution permits high-precision three-dimensional (3D) imaging capability through atmospheric obscurants including fog, haze and smoke. Here we demonstrate an array-based single-photon LiDAR system, which is capable of performing 3D imaging in atmospheric obscurant over long ranges. By adopting the optical optimization of system and the photon-efficient imaging algorithm, we acquire depth and intensity images through dense fog equivalent to 2.74 attenuation lengths at distances of 13.4 km and 20.0 km. Furthermore, we demonstrate real-time 3D imaging for moving targets at 20 frames per second in mist weather conditions over 10.5 km. The results indicate great potential for practical applications of vehicle navigation and target recognition in challenging weather.

Low-cost scanning LIDAR architecture with a scalable frame rate for autonomous vehicles

Autonomous vehicles need accurate 3D perception with a decent frame rate and high angular resolution to detect obstacles reliably and avoid collisions. We developed a low-cost scanning multichannel light detection and ranging sensor architecture allowing scalable frame rates by adjusting the number of laser and detector pairs. Scanning is achieved by a pair of micro-electro-mechanical system (MEMS) mirrors. A control pattern for the MEMS mirrors to maximize the frame rate is presented. A built prototype based on the proposed architecture achieves a frame rate of 11.5 Hz, a field of view of 70^∘×30^∘, and an angular resolution of 0.4°. The distance resolution is 6 cm. Reliable single-shot detection for low-reflective objects up to 19 m indoors and 11 m under direct sunlight exposure is achieved. A performance assessment based on the presented measurement system for recently available vertical-cavity surface-emitting laser arrays with power densities up to 1k W/m m ² shows promising improvement potential.

Scaling waveguide-integrated superconducting nanowire single-photon detector solutions to large numbers of independent optical channels

Superconducting nanowire single-photon detectors are an enabling technology for modern quantum information science and are gaining attractiveness for the most demanding photon counting tasks in other fields. Embedding such detectors in photonic integrated circuits enables additional counting capabilities through nanophotonic functionalization. Here, we show how a scalable number of waveguide-integrated superconducting nanowire single-photon detectors can be interfaced with independent fiber optic channels on the same chip. Our plug-and-play detector package is hosted inside a compact and portable closed-cycle cryostat providing cryogenic signal amplification for up to 64 channels. We demonstrate state-of-the-art multi-channel photon counting performance with average system detection efficiency of (40.5 ± 9.4)% and dark count rate of (123 ± 34) Hz for 32 individually addressable detectors at minimal noise-equivalent power of (5.1 ± 1.2) · 10^-18 W/Hz. Our detectors achieve timing jitter as low as 26 ps, which increases to (114 ± 17) ps for high-speed multi-channel operation using dedicated time-correlated single photon counting electronics. Our multi-channel single photon receiver offers exciting measurement capabilities for future quantum communication, remote sensing, and imaging applications.

High-resolution depth imaging with a small-scale SPAD array based on the temporal-spatial filter and intensity image guidance

Currently single-photon avalanche diode (SPAD) arrays suffer from a small-scale pixel count, which makes it difficult to achieve high-resolution 3D imaging directly through themselves. We established a CCD camera-assisted SPAD array depth imaging system. Based on illumination laser lattice generated by a diffractive optical element (DOE), the registration of the low-resolution depth image gathered by SPAD and the high-resolution intensity image gathered by CCD is realized. The intensity information is used to guide the reconstruction of a resolution-enhanced depth image through a proposed method consisting of total generalized variation (TGV) regularization and temporal-spatial (T-S) filtering algorithm. Experimental results show that an increasement of 4 × 4 times for native depth image resolution is achieved and the depth imaging quality is also improved by applying the proposed method.

Design and Demonstration of a Novel Long-Range Photon-Counting 3D Imaging LiDAR with 32 × 32 Transceivers

Geiger-mode single-photon LiDAR is an important tool for long-distance three-dimensional remote sensing. A planar-array-based photon counting LiDAR that uses 32-by-32 fiber arrays coupled to an optical lens as a transceiver unit was developed. Using transmitters and receivers with the same design, the proposed device easily achieves a high-precision alignment of 1024 pixels and flexible detection field-of-view design. The LiDAR uses a set of relay lenses to couple echoes from the receiving fiber arrays to the pixels of a planar-array single-photon detector, which has a resolution enhanced by a factor of four (64-by-64) relative to the fiber array to reduce cross talk from neighboring pixels. The results of field experiments demonstrate that the proposed LiDAR can reconstruct a three-dimensional image from a distance of 1600 m. Even at an acquisition time of only 40 ms, targets with an area of approximately 50% can still be identified from 200 frames. These results demonstrate the potential of the LiDAR prototype for use in instantaneous high-density point-array measurement and long-range wide-FoV 3D imaging, which can be used in remote sensing applications such as airborne surveys and mapping. In the future, we will integrate the proposed LiDAR prototype and the pose measurement system to take the aircraft-based 3D imaging remote sensing experiments.

Single photon imaging based on a photon driven sparse sampling

Single photon three-dimensional (3D) imager can capture 3D profile details and see through obscuring objects with high sensitivity, making it promising in sensing and imaging applications. The key capabilities of such 3D imager lie on its depth resolution and multi-return discrimination. For conventional pulsed single photon lidar, these capabilities are limited by transmitter bandwidth and receiver bandwidth simultaneously. A single photon imager is proposed and experimentally demonstrated to implement time-resolved and multi-return imaging. Time-to-frequency conversion is performed to achieve millimetric depth resolution. Experimental results show that the depth resolution is better than 4.5 mm, even though time jitter of the SPAD reaches 1 ns and time resolution of the TCSPC module reaches 10 ns. Furthermore, photon driven sparse sampling mechanism allows us to discriminate multiple near surfaces, no longer limited by the receiver bandwidth. The simplicity of the system hardware enables low-cost and compact 3D imaging.

Polarization resolving and imaging with a single-photon sensitive superconducting nanowire array

Superconducting nanowire single-photon detectors (SNSPDs) have attracted remarkable interest for visible and near-infrared single-photon detection due to their outstanding performance. However, conventional SNSPDs are generally used as binary photon-counting detectors. Another important characteristic of light, i.e., polarization, which can provide additional information of the object, has not been resolved using the standalone SNSPD. In this work, we present a first prototype of the polarimeter based on a four-pixel superconducting nanowire array, capable of resolving the polarization state of linearly-polarized light at the single-photon level. The detector array design is based on a division of focal plane configuration in which the orientation of each nanowire division (pixel) is offset by 45°. Each single nanowire pixel operates as a combination of a photon detector and almost linear polarization filter, with an average polarization extinction ratio of ∼10. The total system detection efficiency of the array is ∼1% at a total dark count rate of 680 cps, with a timing jitter of 126 ps, when the detector array is free-space coupled and illuminated with 1550-nm photons. The mean errors of the measured angle of polarization and degree of linear polarization were about -3° and 0.12, respectively. Furthermore, we successfully demonstrated polarization imaging at low-light level using the proposed detector. Our results pave the way for the development of a single-photon sensitive, fast, and large-scale integrated polarization polarimeter or imager. Such detector may find promising application in photon-starved polarization resolving and imaging with high spatial and temporal resolution.

Portable Pulsed Coherent Lidar for Noncooperation Targets at the Few-Photon Level

The decoherence in coherent lidar becomes serious with the increase in distance. A small laser spot can suppress the decoherence of the echo light from noncooperation targets. However, it is very difficult to keep a small light spot over a long distance. In this paper, a pulsed coherent lidar with high sensitivity at the few-photon level was demonstrated. A phase plate was used to modulate the wavefront of the laser to achieve 100 m focusing which reduced the decoherence effect. Based on coherent detection and time-of-flight (TOF) measurements, long-distance laser ranging and imaging on all days was realized. A signal classification and superposition method was used to extract the echo signal submerged in noise. The system was experimentally demonstrated by ranging different noncooperation targets within 105.0 m. The measurement rate was 10 k/s, and the measurement uncertainty was 1.48 cm. In addition, laser imaging was realized at ~50.0 m. The system was simple and portable as well as eye safe, and it may offer new application possibilities in automated vehicle lidar.

Compact long-range single-photon imager with dynamic imaging capability

Single-photon light detection and ranging (LiDAR) has emerged as a strong candidate technology for active imaging applications. Benefiting from the single-photon sensitivity in detection, long-range active imaging can be realized with a low-power laser and a small-aperture transceiver. However, existing kilometer-range active imagers are bulky and have a long data acquisition time. Here we present a compact co-axial single-photon LiDAR system for kilometer-range 3D imaging. A fiber-based transceiver with a 2.5 cm effective aperture was employed to realize a robust and compact architecture, while a tailored temporal filtering approach guaranteed the high signal-to-noise level. Moreover, a micro-electro-mechanical system scanning mirror was adopted to achieve fast beam scanning. In experiment, high-resolution 3D images of different targets up to 12.8 km were acquired to demonstrate the long-range imaging capability. Furthermore, it exhibits the ability to achieve dynamic imaging at five frames per second over a distance of ∼1km. The results indicate potential in a variety of applications such as remote sensing and long-range target detection.

Single-longitudinal-mode-operated, passively Q-switched Nd:YAG/Cr4+:YAG microchip laser with >100 kHz repetition rate and <400 ps pulse width

We report a comprehensive design procedure for passively Q-switched monolithic Nd:YAG/Cr⁴⁺:YAG microchip lasers to realize operation conditions of the pulse repetition rate (PRR) >100kHz and pulse width (PW) <400ps, simultaneously. Crucial parameters including effective pump power and waist diameter of the pump laser, doping concentration and thickness of the Nd:YAG crystal, initial transmittance (T₀) of the Cr⁴⁺:YAG crystal, as well as the reflectivity of the output coupler are all considered during the design process. Two single-longitudinal-mode-operated lasers are designed and constructed according to the numerical results. The lengths and doping concentrations of Nd:YAG for both microchips are optimized to be 0.5 mm and 2%, respectively. A PRR up to 170 kHz and PW of ∼370ps are measured under the pump power of 2.6 W for a microchip with T₀ of 0.85. A slightly lower PRR of 118 kHz with a shorter PW of ∼320ps is also achieved under the same pump power for another microchip with T₀ of 0.8. The related pulse energies for the two microchips are ∼2.1µJ and ∼1.8µJ, respectively. To the best of our knowledge, these results are among the highest PRRs achieved for passively Q-switched Nd:YAG/Cr⁴⁺:YAG microchips with PWs <400ps.

Three-Dimensional Imaging via Time-Correlated Single-Photon Counting

Three-dimensional (3D) imaging under the condition of weak light and low signal-to-noise ratio is a challenging task. In this paper, a 3D imaging scheme based on time-correlated single-photon counting technology is proposed and demonstrated. The 3D imaging scheme, which is composed of a pulsed laser, a scanning mirror, single-photon detectors, and a time-correlated single-photon counting module, employs time-correlated single-photon counting technology for 3D LiDAR (Light Detection and Ranging). Aided by the range-gated technology, experiments show that the proposed scheme can image the object when the signal-to-noise ratio is decreased to −13 dB and improve the structural similarity index of imaging results by 10 times. Then we prove the proposed scheme can image the object in three dimensions with a lateral imaging resolution of 512 × 512 and an axial resolution of 4.2 mm in 6.7 s. At last, a high-resolution 3D reconstruction of an object is also achieved by using the photometric stereo algorithm.

Super-resolution single-photon imaging at 8.2 kilometers

Single-photon light detection and ranging (LiDAR), offering single-photon sensitivity and picosecond time resolution, has been widely adopted for active imaging applications. Long-range active imaging is a great challenge, because the spatial resolution degrades significantly with the imaging range due to the diffraction limit of the optics, and only weak echo signal photons can return but mixed with a strong background noise. Here we propose and demonstrate a photon-efficient LiDAR approach that can achieve sub-Rayleigh resolution imaging over long ranges. This approach exploits fine sub-pixel scanning and a deconvolution algorithm tailored to this long-range application. Using this approach, we experimentally demonstrated active three-dimensional (3D) single-photon imaging by recognizing different postures of a mannequin model at a stand-off distance of 8.2 km in both daylight and night. The observed spatial (transversal) resolution is ∼5.5 cm at 8.2 km, which is about twice of the system's resolution. This also beats the optical system's Rayleigh criterion. The results are valuable for geosciences and target recognition over long ranges.

3D LIDAR imaging using Ge-on-Si single-photon avalanche diode detectors

We present a scanning light detection and ranging (LIDAR) system incorporating an individual Ge-on-Si single-photon avalanche diode (SPAD) detector for depth and intensity imaging in the short-wavelength infrared region. The time-correlated single-photon counting technique was used to determine the return photon time-of-flight for target depth information. In laboratory demonstrations, depth and intensity reconstructions were made of targets at short range, using advanced image processing algorithms tailored for the analysis of single-photon time-of-flight data. These laboratory measurements were used to predict the performance of the single-photon LIDAR system at longer ranges, providing estimations that sub-milliwatt average power levels would be required for kilometer range depth measurements.

Photon-counting laser interferometer for absolute distance measurement on rough surface

We designed a dual-wavelength photon-counting laser interferometer for absolute distance measurement of noncooperative targets. The weak optical interference on the rough surface was measured by a single-photon detector. The range of nonambiguity of the dual-wavelength interferometer was less than 1.2 μm, as the maximum errors of L_g and L_r were 7.8 nm and 9.1 nm caused by the photon-counting measurement and the frequency shift of the two unlocked lasers. We integrated laser triangulation into the interferometer as a coarse measurement, thus increasing the range of nonambiguity to 6.5 mm. As a result, a measurement standard deviation of ∼18 nm was achieved within a range of 1.1 mm in the experiment.

True-Color Three-Dimensional Imaging and Target Classification Based on Hyperspectral LiDAR

True-color three-dimensional (3D) imaging exploits spatial and spectral information and can enable accurate feature extraction and object classification. The existing methods, however, are limited by data collection mechanisms when realizing true-color 3D imaging. We overcome this problem and present a novel true-color 3D imaging method based on a 32-channel hyperspectral LiDAR (HSL) covering a 431–751 nm spectral range. We conducted two experiments, one with nine-color card papers and the other with seven different colored objects. We used the former to investigate the effect of true-color 3D imaging and determine the optimal spectral bands for compositing true-color, and the latter to explore the classification potential based on the true-color feature using polynomial support vector machine (SVM) and Gaussian naive Bayes (NB) classifiers. Since using all bands of HSL will cause color distortions, the optimal spectral band combination for better compositing the true-color were selected by principal component analysis (PCA) and spectral correlation measure (SCM); PCA emphasizes the amount of information in band combinations, while SCM focuses on correlation between bands. The results show that the true-color 3D imaging can be realized based on HSL measurements, and three spectral bands of 466, 546, and 626 nm were determined. Comparing reflectance of the three selected bands, the overall classification accuracy of seven different colored objects was improved by 14.6% and 8.25% based on SVM and NB, respectively, classifiers after converting spectral intensities into true-color information. Overall, this study demonstrated the potential of HSL system in retrieving true-color and facilitating target recognition, and can serve as a guide in developing future three-channel or multi-channel true-color LiDAR.

Three-dimensional single-photon imaging through obscurants

We investigate the depth imaging of objects through various densities of different obscurants (water fog, glycol-based vapor, and incendiary smoke) using a time-correlated single-photon detection system which had an operating wavelength of 1550 nm and an average optical output power of approximately 1.5 mW. It consisted of a monostatic scanning transceiver unit used in conjunction with a picosecond laser source and an individual Peltier-cooled InGaAs/InP single-photon avalanche diode (SPAD) detector. We acquired depth and intensity data of targets imaged through distances of up to 24 meters for the different obscurants. We compare several statistical algorithms which reconstruct both the depth and intensity images for short data acquisition times, including very low signal returns in the photon-starved regime.