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arXiv · 2610.01206

Resolving Mixed Single-Photon LiDAR Returns for Foreground-View and Hidden Scene Reconstruction

Ziting Wen·Runrong Deng·Zili Zhang·Haitao Zheng·Yuecong Xu·Xiaoqiang Ren·Guodong Shi·Kemi Ding
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Abstract

Partially transmissive screens and protective covers are common in robotic inspection, but they create mixed LiDAR returns from both the foreground material and the scene behind it. Conventional peak-based LiDAR usually discards weak hidden returns, while single-photon LiDAR records time-resolved histograms that preserve attenuated and overlapping echoes. However, existing transient reconstruction methods typically fit a single scene representation to the measured waveform. Under occlusion, weak or nearby foreground--hidden echoes can form a broad peak or subtle shoulder. Because such waveforms can also be explained by a displaced single surface or a thick density distribution, accurate transient fitting does not necessarily imply correct geometry. We propose a state-aware framework for foreground-view and hidden scene reconstruction from occluded single-photon histograms. For each ray, we estimate local echo evidence, identifying no reliable surface evidence, single-return evidence, or two returns. The inferred echo state routes supervision for a two-head neural field: all rays constrain waveform reconstruction, while reliable anchors provide geometry localization. We also introduce a real paired single-photon LiDAR occlusion dataset with occluded and clean captures at fixed poses. Experiments on a real dataset show improved hidden scene depth and point-cloud accuracy over baselines. Our results demonstrate single-photon layered reconstruction as a practical route for 3D perception through partially transmissive occluders.

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Ziting Wen, Runrong Deng, Zili Zhang, Haitao Zheng, Yuecong Xu, Xiaoqiang Ren, Guodong Shi, Kemi Ding. 2026-10-01. Resolving Mixed Single-Photon LiDAR Returns for Foreground-View and Hidden Scene Reconstruction. https://arxiv.org/abs/2610.01206

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