# Long-range depth imaging using a single-photon detector array and non-local data fusion

arXiv: https://arxiv.org/abs/1812.04943 · HTML: https://mlsanity.com/paper/1812.04943/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 11 Dec 2018.

## Built on by (most cited first, 5 of 5)

- [High-resolution Depth Maps Imaging via Attention-based Hierarchical Multi-modal Fusion](https://mlsanity.com/paper/2104.01530/) (2021)
- [iToF2dToF: A Robust and Flexible Representation for Data-Driven Time-of-Flight Imaging](https://mlsanity.com/paper/2103.07087/) (2021)
- [Enhancing Autonomous Navigation by Imaging Hidden Objects using Single-Photon LiDAR](https://mlsanity.com/paper/2410.03555/) (2024)
- [Robust photon-efficient imaging using a pixel-wise residual shrinkage network](https://mlsanity.com/paper/2201.01453/) (2022)
- [Long-Distance Field Demonstration of Imaging-Free Drone Identification in Intracity Environments](https://mlsanity.com/paper/2504.20097/) (2025)

## Abstract (arXiv)

The ability to measure and record high-resolution depth images at long stand-off distances is important for a wide range of applications, including connected and automotive vehicles, defense and security, and agriculture and mining. In LIDAR (light detection and ranging) applications, single-photon sensitive detection is an emerging approach, offering high sensitivity to light and picosecond temporal resolution, and consequently excellent surface-to-surface resolution. The use of large format CMOS single-photon detector arrays provides high spatial resolution and allows the timing information to be acquired simultaneously across many pixels. In this work, we combine state-of-the-art single-photon detector array technology with non-local data fusion to generate high resolution three-dimensional depth information of long-range targets. The system is based on a visible pulsed illumination system at 670~nm and a 240~× 320 pixel array sensor, achieving sub-centimeter precision in all three spatial dimensions at a distance of 150 meters. The non-local data fusion combines information from an optical image with sparse sampling of the single-photon array data, providing accurate depth information at low signature regions of the target.