Submerged single-photon LiDAR imaging sensor used for real-time 3D scene reconstruction in scattering underwater environments.

We demonstrate a fully submerged underwater LiDAR transceiver system based on single-photon detection technologies. The LiDAR imaging system used a silicon single-photon avalanche diode (SPAD) detector array fabricated in complementary metal-oxide semiconductor (CMOS) technology to measure photon time-of-flight using picosecond resolution time-correlated single-photon counting. The SPAD detector array was directly interfaced to a Graphics Processing Unit (GPU) for real-time image reconstruction capability. Experiments were performed with the transceiver system and target objects immersed in a water tank at a depth of 1.8 meters, with the targets placed at a stand-off distance of approximately 3 meters. The transceiver used a picosecond pulsed laser source with a central wavelength of 532 nm, operating at a repetition rate of 20 MHz and average optical power of up to 52 mW, dependent on scattering conditions. Three-dimensional imaging was demonstrated by implementing a joint surface detection and distance estimation algorithm for real-time processing and visualization, which achieved images of stationary targets with up to 7.5 attenuation lengths between the transceiver and the target. The average processing time per frame was approximately 33 ms, allowing real-time three-dimensional video demonstrations of moving targets at ten frames per second at up to 5.5 attenuation lengths between transceiver and target.

Towards combined quantum bit detection and spatial tracking using an arrayed single-photon sensor.

Experimental quantum key distribution through free-space channels requires accurate pointing-and-tracking to co-align telescopes for efficient transmission. The hardware requirements for the sender and receiver could be drastically reduced by combining the detection of quantum bits and spatial tracking signal using two-dimensional single-photon detector arrays. Here, we apply a two-dimensional CMOS single-photon avalanche diode detector array to measure and monitor the single-photon level interference of a free-space time-bin receiver interferometer while simultaneously tracking the spatial position of the single-photon level signal. We verify an angular field-of-view of 1.28° and demonstrate a post-processing technique to reduce background noise. The experimental results show a promising future for two-dimensional single-photon detectors in low-light level free-space communications, such as quantum communications.

Custom-Technology Single-Photon Avalanche Diode Linear Detector Array for Underwater Depth Imaging.

We present an optical depth imaging system suitable for highly scattering underwater environments. The system used the time-correlated single-photon counting (TCSPC) technique and the time-of-flight approach to obtain depth profiles. The single-photon detection was provided by a linear array of single-photon avalanche diode (SPAD) detectors fabricated in a customized silicon fabrication technology for optimized efficiency, dark count rate, and jitter performance. The bi-static transceiver comprised a pulsed laser diode source with central wavelength 670 nm, a linear array of 16 × 1 Si-SPAD detectors, with a dedicated TCSPC acquisition module. Cylindrical lenses were used to collect the light scattered by the target and image it onto the sensor. These laboratory-based experiments demonstrated single-photon depth imaging at a range of 1.65 m in highly scattering conditions, equivalent up to 8.3 attenuation lengths between the system and the target, using average optical powers of up to 15 mW. The depth and spatial resolution of this sensor were investigated in different scattering conditions.

3D LIDAR imaging using Ge-on-Si single-photon avalanche diode detectors.

We present a scanning light detection and ranging (LIDAR) system incorporating an individual Ge-on-Si single-photon avalanche diode (SPAD) detector for depth and intensity imaging in the short-wavelength infrared region. The time-correlated single-photon counting technique was used to determine the return photon time-of-flight for target depth information. In laboratory demonstrations, depth and intensity reconstructions were made of targets at short range, using advanced image processing algorithms tailored for the analysis of single-photon time-of-flight data. These laboratory measurements were used to predict the performance of the single-photon LIDAR system at longer ranges, providing estimations that sub-milliwatt average power levels would be required for kilometer range depth measurements.

Three-dimensional imaging of stationary and moving targets in turbid underwater environments using a single-photon detector array.

Three-dimensional imaging in underwater environments was investigated using a picosecond resolution silicon single-photon avalanche diode (SPAD) detector array fabricated in complementary metal-oxide semiconductor (CMOS) technology. Each detector in the 192  × 128 SPAD array had an individual time-to-digital converter allowing rapid, simultaneous acquisition of data for the entire array using the time-correlated single-photon counting approach. A picosecond pulsed laser diode source operating at a wavelength of 670 nm was used to illuminate the underwater scenes, emitting an average optical power up to 8 mW. Both stationary and moving targets were imaged under a variety of underwater scattering conditions. The acquisition of depth and intensity videos of moving targets was demonstrated in dark laboratory conditions through scattering water, equivalent to having up to 6.7 attenuation lengths between the transceiver and target. Data were analyzed using a pixel-wise approach, as well as an image processing algorithm based on a median filter and polynomial approximation.

Spectral classification of sparse photon depth images.

By illumination of target scenes using a set of different wavelengths, we demonstrate color classification of scenes, as well as depth estimation, in photon-starved images. The spectral signatures are classified with a new advanced statistical image processing method from measurements of the same scene, in this case using combinations of 33, 16, 8 or 4 different wavelengths in the range 500 - 820 nm. This approach makes it possible to perform color classification and depth estimation on images containing as few as one photon per pixel, on average. Compared to single wavelength imaging, this approach improves target discrimination by extracting more spectral information, which, in turn, improves the depth estimation since this approach is robust to changes in target reflectivity. We demonstrate color classification and depth profiling of complex targets at average signal levels as low as 1.0 photons per pixel from as few as 4 different wavelength measurements.

Underwater depth imaging using time-correlated single-photon counting.

A depth imaging system, based on the time-of-flight approach and the time-correlated single-photon counting (TCSPC) technique, was investigated for use in highly scattering underwater environments. The system comprised a pulsed supercontinuum laser source, a monostatic scanning transceiver, with a silicon single-photon avalanche diode (SPAD) used for detection of the returned optical signal. Depth images were acquired in the laboratory at stand-off distances of up to 8 attenuation lengths, using per-pixel acquisition times in the range 0.5 to 100 ms, at average optical powers in the range 0.8 nW to 950 µW. In parallel, a LiDAR model was developed and validated using experimental data. The model can be used to estimate the performance of the system under a variety of scattering conditions and system parameters.