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Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging

Abstract: 

We propose a new sampling and reconstruction framework for full frame depth imaging using synchronised, programmable laser diode and photon detector arrays. By adopting a measurement scheme that probes the environment with sparse, pseudo-random patterns, our method enables eyesafe LiDAR operation, while guaranteeing fast reconstruction of
depth images with a high signal-to-noise ratio (SNR). Building up on the observation that certain quantities derived from the photon count histograms are sparse in either the l1-norm or have small total variation (TV), reconstruction is performed via compressed sensing (CS) and takes approximately 30 s per frame. To speed up reconstruction, we further introduce a checkerboard tiling approach (CB-CS) that reduces the processing time to milliseconds per tile, with comparable or even less reconstruction error. Although in our experiments we reconstruct tiles sequentially at a frame rate of ~4Hz, this process is highly parallelizable and has the potential to achieve 1kHz frame rates.

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Paper Details

Authors:
Brian Stewart, Joao F.C. Mota, Andrew M. Wallace
Submitted On:
8 November 2019 - 6:40am
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Andreas Aßmann
Document Year:
2019
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Document Files

SuperPixel LiDAR GlobalSIP19 print.pdf

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[1] Brian Stewart, Joao F.C. Mota, Andrew M. Wallace, "Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4930. Accessed: Nov. 11, 2019.
@article{4930-19,
url = {http://sigport.org/4930},
author = {Brian Stewart; Joao F.C. Mota; Andrew M. Wallace },
publisher = {IEEE SigPort},
title = {Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging},
year = {2019} }
TY - EJOUR
T1 - Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging
AU - Brian Stewart; Joao F.C. Mota; Andrew M. Wallace
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4930
ER -
Brian Stewart, Joao F.C. Mota, Andrew M. Wallace. (2019). Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging. IEEE SigPort. http://sigport.org/4930
Brian Stewart, Joao F.C. Mota, Andrew M. Wallace, 2019. Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging. Available at: http://sigport.org/4930.
Brian Stewart, Joao F.C. Mota, Andrew M. Wallace. (2019). "Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging." Web.
1. Brian Stewart, Joao F.C. Mota, Andrew M. Wallace. Compressive Super-Pixel LiDAR for High-Framerate 3D Depth Imaging [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4930