发表机构
Southern University of Science and Technology; Shanghai University; National University of Singapore; University of Sydney（南方科技大学; 上海大学; 新加坡国立大学; 悉尼大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对部分透射遮挡物导致的混合单光子激光雷达回波，提出状态感知框架，通过回波证据引导双头神经场，实现前景与隐藏场景的准确重建，并在真实数据集上验证了有效性。
AI 中文摘要
部分透射的屏幕和保护罩在机器人检测中很常见，但它们会产生来自前景材料和其后方场景的混合激光雷达回波。传统的基于峰值的激光雷达通常会丢弃微弱的隐藏回波，而单光子激光雷达记录时间分辨直方图，保留了衰减和重叠的回波。然而，现有的瞬态重建方法通常将单一场景表示拟合到测量波形上。在遮挡情况下，微弱或邻近的前景-隐藏回波可能形成宽峰或微弱的肩部。由于此类波形也可由位移的单表面或厚密度分布解释，准确的瞬态拟合并不一定意味着正确的几何形状。我们提出了一种状态感知框架，用于从被遮挡的单光子直方图中重建前景视图和隐藏场景。对于每条光线，我们估计局部回波证据，识别出无可靠表面证据、单回波证据或双回波。推断的回波状态引导双头神经场的监督：所有光线约束波形重建，而可靠锚点提供几何定位。我们还引入了一个真实的配对单光子激光雷达遮挡数据集，包含固定姿态下的遮挡和干净采集。在真实数据集上的实验表明，与基线相比，隐藏场景深度和点云精度有所提高。我们的结果证明了单光子分层重建是通过部分透射遮挡物进行3D感知的实用途径。
英文摘要
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.
