Spatial Sequential Matching Enhanced Underwater Single-Photon Lidar Imaging Algorithm

Abstract

Traditional LiDAR and air-medium-based single-photon LiDAR struggle to perform effectively in high-scattering environments. The laser beams are subject to severe medium absorption and multiple scattering phenomena in such conditions, greatly limiting the maximum operational range and imaging quality of the system. The high sensitivity and high temporal resolution of single-photon LiDAR enable high-resolution depth information acquisition under limited illumination power, making it highly suitable for operation in environments with extremely poor visibility. In this study, we focus on the data distribution characteristics of active single-photon LiDAR operating underwater, without relying on time-consuming deep learning frameworks. By leveraging the differences in time-domain distribution between noise and echo signals, as well as the hidden spatial information among echo signals from different pixels, we rapidly obtain imaging results across various distances and attenuation coefficients. We have experimentally verified that the proposed spatial sequential matching enhanced (SSME) algorithm can effectively enhance the reconstruction quality of reflection intensity maps and depth maps in strong scattering underwater environments. Through additional experiments, we demonstrated the algorithm’s reconstruction effect on different geometric shapes and the system’s resolution at different distances. This rapidly implementable reconstruction algorithm provides a convenient way for researchers to preview data during underwater single-photon LiDAR studies.