arXiv subjects

Connor Henley

Publications and source records attributed to Connor Henley.

4 recordsLinked to original sources

arXiv2026

Ghosts in the Point Clouds: De-glaring LiDAR in the Transient Domain

Modern LiDARs are rapidly transitioning from bulky, mechanically scanned systems to ultra-compact, low-cost, solid-state arrays. This miniaturization-while enabling scalability, affordability, and camera-like data structures-introduces a new and severe failure mode: internal-multipath glare. When light from a bright or retroreflective surface reflects and scatters within the LiDAR, light that should reach a single pixel spreads across the pixel array. The resulting artifacts create phantom objects, obscure real ones, and produce safety-critical "ghosts in the point clouds." This paper introduces a physically grounded sensing model and algorithmic techniques for addressing this effect. We show that internal glare can be represented as a linear, scene-independent operator-the Transient Glare Spread Function (TGSF)-acting on the transient measurements. Building on this model, we develop a training-free approach that operates on low-level LiDAR detections (or echoes) prior to point-cloud formation, leveraging knowledge of the glare spread function to reason about the likelihood of each detection arising from glare. The resulting approach is compatible with existing LiDAR signal-processing pipelines, and deployable on unmodified commercial sensors. Using experiments with real single-photon LiDAR hardware, we demonstrate substantial suppression of severe glare artifacts while preserving true scene structure.

cs.CV↗

arXiv2023

Measurement of Snowpack Density, Grain Size, and Black Carbon Concentration Using Time-domain Diffuse Optics

Diffuse optical spectroscopy (DOS) techniques aim to characterize scattering media by examining their optical response to laser illumination. Time-domain DOS methods involve illuminating the medium with a laser pulse and using a fast photodetector to measure the time-dependent intensity of light that exits the medium after multiple scattering events. While DOS research traditionally focused on characterizing biological tissues, we demonstrate that time-domain diffuse optical measurements can also be used to characterize snow. We introduce a model that predicts the time-dependent reflectance of a dry snowpack as a function of its density, grain size, and black carbon content, and we develop an algorithm that retrieves these properties from measurements at two wavelengths. To validate our approach, we use a two-wavelength lidar system and measure the time-dependent reflectance of snow samples with varying properties. Rather than measuring direct surface returns, our system captures photons that enter and exit the snow at different points, separated by a small distance (4-10cm). We find strong, linear correlations between our retrievals of density and black carbon concentration, and ground truth measurements. Although the correlation is not as strong, we also find that our method is capable of distinguishing between small and large grains.

physics.optics↗

arXiv2023

Role of Transients in Two-Bounce Non-Line-of-Sight Imaging

The goal of non-line-of-sight (NLOS) imaging is to image objects occluded from the camera's field of view using multiply scattered light. Recent works have demonstrated the feasibility of two-bounce (2B) NLOS imaging by scanning a laser and measuring cast shadows of occluded objects in scenes with two relay surfaces. In this work, we study the role of time-of-flight (ToF) measurements, \ie transients, in 2B-NLOS under multiplexed illumination. Specifically, we study how ToF information can reduce the number of measurements and spatial resolution needed for shape reconstruction. We present our findings with respect to tradeoffs in (1) temporal resolution, (2) spatial resolution, and (3) number of image captures by studying SNR and recoverability as functions of system parameters. This leads to a formal definition of the mathematical constraints for 2B lidar. We believe that our work lays an analytical groundwork for design of future NLOS imaging systems, especially as ToF sensors become increasingly ubiquitous.

eess.IV↗

arXiv2022

Detection and Mapping of Specular Surfaces Using Multibounce Lidar Returns

We propose methods that use specular, multibounce lidar returns to detect and map specular surfaces that might be invisible to conventional lidar systems that rely on direct, single-scatter returns. We derive expressions that relate the time- and angle-of-arrival of these multibounce returns to scattering points on the specular surface, and then use these expressions to formulate techniques for retrieving specular surface geometry when the scene is scanned by a single beam or illuminated with a multi-beam flash. We also consider the special case of transparent specular surfaces, for which surface reflections can be mixed together with light that scatters off of objects lying behind the surface.

cs.CV↗