# Non-line-of-sight tracking of people at long range

arXiv: https://arxiv.org/abs/1703.02124 · HTML: https://mlsanity.com/paper/1703.02124/

## Key facts

- Cited by 10 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Mar 2017.

## Built on by (most cited first, 10 of 10)

- [Recent Advances on Non-Line-of-Sight Imaging: Conventional Physical Models, Deep Learning, and New Scenes](https://mlsanity.com/paper/2104.13807/) (2021)
- [What You Can Learn by Staring at a Blank Wall](https://mlsanity.com/paper/2108.13027/) (2021)
- [Few-shot Non-line-of-sight Imaging with Signal-surface Collaborative Regularization](https://mlsanity.com/paper/2211.15367/) (2022)
- [Non-Line-of-Sight Tracking and Mapping with an Active Corner Camera](https://mlsanity.com/paper/2208.01702/) (2022)
- [Propagate And Calibrate: Real-time Passive Non-line-of-sight Tracking](https://mlsanity.com/paper/2303.11791/) (2023)
- [Passive Non-line-of-sight Imaging for Moving Targets with an Event Camera](https://mlsanity.com/paper/2209.13300/) (2022)
- [Fast Non-line-of-sight Imaging with Two-step Deep Remapping](https://mlsanity.com/paper/2101.10492/) (2021)
- [Onsite Non-Line-of-Sight Imaging via Online Calibrations](https://mlsanity.com/paper/2112.14555/) (2021)
- [SuperEx: Enhancing Indoor Mapping and Exploration using Non-Line-of-Sight Perception](https://mlsanity.com/paper/2510.10506/) (2025)
- [Imaging Hidden Objects with Consumer LiDAR via Motion Induced Sampling](https://mlsanity.com/paper/2605.17865/) (2026)

## Abstract (arXiv)

A remote-sensing system that can determine the position of hidden objects has applications in many critical real-life scenarios, such as search and rescue missions and safe autonomous driving. Previous work has shown the ability to range and image objects hidden from the direct line of sight, employing advanced optical imaging technologies aimed at small objects at short range. In this work we demonstrate a long-range tracking system based on single laser illumination and single-pixel single-photon detection. This enables us to track one or more people hidden from view at a stand-off distance of over 50~m. These results pave the way towards next generation LiDAR systems that will reconstruct not only the direct-view scene but also the main elements hidden behind walls or corners.