# 3D imaging from multipath temporal echoes

arXiv: https://arxiv.org/abs/2011.09284 · HTML: https://mlsanity.com/paper/2011.09284/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Nov 2020.

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

- [Real-time, low-cost multi-person 3D pose estimation](https://mlsanity.com/paper/2110.11414/) (2021)
- [Single-pixel 3D imaging based on fusion temporal data of single photon detector and millimeter-wave radar](https://mlsanity.com/paper/2312.12439/) (2023)
- [Estimating Indoor Scene Depth Maps from Ultrasonic Echoes](https://mlsanity.com/paper/2409.03336/) (2024)
- [Long-Distance Field Demonstration of Imaging-Free Drone Identification in Intracity Environments](https://mlsanity.com/paper/2504.20097/) (2025)
- [Semantic Temporal Single-photon LiDAR](https://mlsanity.com/paper/2512.06008/) (2025)

## Abstract (arXiv)

Echo-location is a broad approach to imaging and sensing that includes both man-made RADAR, LIDAR, SONAR and also animal navigation. However, full 3D information based on echo-location requires some form of scanning of the scene in order to provide the spatial location of the echo origin-points. Without this spatial information, imaging objects in 3D is a very challenging task as the inverse retrieval problem is strongly ill-posed. Here, we show that the temporal information encoded in the return echoes that are reflected multiple times within a scene is sufficient to faithfully render an image in 3D. Numerical modelling and an information theoretic perspective prove the concept and provide insight into the role of the multipath information. We experimentally demonstrate the concept by using both radio-frequency and acoustic waves for imaging individuals moving in a closed environment.