Adaptive Depth Imaging with Single-Photon Detectors

Transcription

1 aive Deh Imagig wih Sige-Phoo Deecos Weii He * Zhechao Feg Jie Li Shasha She Qia Che Guohua Gu Beibei Zhou Pig Zhag 3 Jiagsu ey Laboaoy of Seca Imagig & Ieigece Sese (SIIS) Naig Uivesiy of Sciece a echoogy Naig Chia 0094 Naig Uivesiy of Sciece a echoogy Naig Chia Jiagsu Noh Huguag Oics & Eecoics Co.L Wux Chia 4000 * Coesoig auho: hew@mai.us.eu.c bsac Fo acive oica imagig he use of sige-hoo eecos ca geay imove he eecio sesiiviy of he sysem. Howeve he aiioa maximum-ikeihoo base imagig meho ees a og acquisiio ime o caue cea hee-imesioa (3D) image i ow igh-eve. o acke his obem we ese a ove imagig meho fo eh esimae which ca obai he accuae 3D image i a sho acquisiio ime. Ou meho combies he hoo-cou saisics wih he emoa coeaios of he efece siga. ccoig o he chaaceisics of he age suface icuig he suface efeciviy ou meho is caabe of aaivey chagig he we ime i each ixe. he exeimea esus emosae ha he oose meho ca fas obai he accuae eh image esie he exisece of sog backgou oise. Iex ems aaive eh imagig emoa coeaios sige-hoo eecos hoo-couig LIDR I. INRODUCION Imovemes i hee-imesioa imagig a sige-hoo eecio echoogy which emoy eh a efeciviy imagig aoach have faciiae may emegig aicaios such as machie visio iusia moe esig a amosheic emoe sesig [-3]. Usig he 3D imagig igh eecio a agig sysem (LIDR) [4-7] wih a Geige-moe PD (vaache Phoo Dioe) as he sige-hoo eeco we ca accuaey acquie he eh a efeciviy images of age. aiioay he eh esimae base o maximum ikeihoo geeaes he hoo couig hisogam by a og we ime o acquie he eh a efeciviy esimaio of age which esecivey coesos o he eak ocaio a he amiue of he hoo-cou hisogam. I equies 0 3 ~ 0 6 hoos o accuaey esimae he eh a efeciviy ifomaio of age. I aiio he age wih ow efeciviy ees much oge we ime o miigae he effec of Poisso oise. heefoe imagig mehos wih fixe we ime [8 9] ea o eihe ue-samig o og acquisiio ime whe eaig wih he age wihou ay io kowege i ow igh-eve. Hyuug Shim a Seugyu Lee [0] use a hybi exosue echique o imove he seveey oisy eh esimaio cause by he age efeciviy a he imiaio of he eeco yamic age. Fo his imagig meho i eee o ake wice eecios of og a sho exosue ime o eemie he bes eh esimaio of each ixe. hme imai a Dheea Vekaam e a. [-3] bough ou a mahemaica obabiiy moe of hoo couig ocess equie wih he sige-hoo eeco. hey use he fis eece hoo o esimae he eh a efeciviy images of age combiig he saia coeaio amog aace ixes. Howeve he fis eece hoo may be a oise hoo eseciay ea he eges of age which wi seiousy affec he esimaio accuacy. I his ae a aaive eh imagig saegy (DI) is eive o sove he obem of ue-samig o og acquisiio ime. Phoos geeae by he ambie igh a ak cou ae efie as oise hoos; hoos geeae by he efece ase igh ae efie as siga hoos. he OFs (he ua of ime-of-figh ) of oise hoos ae ieeey a uifomy isibue i he whoe eecio eio; howeve because he OFs of siga hoos ae chaaceize by he ime-shife ase use shae [0] hey ae maiy a coeaivey isibue i he age of he fu wih haf maximum (FWHM) of he emie ase use. Base o his obsevaio DI isiguishes siga hoos fom oise hoos a he ieaivey uaes he eh esimaio of age. Sice oy siga hoos coibue o

2 DI he accuacy of eh esimaio is imove. Comaig o he coveioa eh esimae mehos DI ee o o geeae he hoo-cou hisogam. Fuhemoe accoig o he chaaceisics of he age suface icuig he suface efeciviy DI is caabe of aaivey chagig he we ime i each ixe. We exeimeay emosae ha his meho ca quicky obai a cea eh image of age i he esece of high backgou oise. he es of ae is ogaize as foows: he image heoy base o obabiiy saisics is escibe i eai i Secio. I Secio 3 we ovie a seies of exeimes o aayze he imagig efomace a he effec of aamees. I Secio 4 we biefy cocue ou wok. II. HEORY schemaic iagam of he LIDR sysem is show i Figue [4]. eioicay use ase souce is use o igge a PicoHa 300 CSPC (ime coece sige hoo couig) moue (4 s miimum ime-bi wih). he ase use is a Gaussia wavefom s( ) which has a eeiio eio of aoximaey 400 s a a fu wih haf maximum (FWHM) of 50 s a a waveegh of 830 m. he ase is efece i wo saia imesios of X/Y usig a ai of comue-cooe gavaomee mios. he Geige-moe PD has a ea ime of 50s a ak cou of ess ha 00 cous e seco. Recosuce 3D a efeciviy Coo a ocessig CSPC Puse igh souce SYNC So Sa Y X Scaig gavo vaache hooioe Icaesce am Scee Fig.. he exeimea sysem. he saia ocaio of each ixe i age is make as z... N. he isace bewee he age a he eeco is eoe as z (heei he ae of igh souce is use as he efeece ae). Cosieig he effec of isace aiasig [5 6] we assume zmax c whee is he use-eeiio eio of ase zmax is he maxima isace a c is he see of igh. Geeay because he FWHM of ase use ecies he achievabe eh esouio wihou he ambie igh [3] we assume << z max c. he measueme ime (he gae) is efie as he aicua ime uaio ha he PD is biase io Geige-moe [8] which is se o 00 s i ou exeimes. he he measueme ime M is ivie io s= M = ime-bis [7] whee he wih (ime uaio) of each ime-bi is se o (he FWHM of ase use). he OF (ime-of-figh) a he ime-bi umbe (sequece umbe) of he eece hoos ae ovie by he sysem eecoics. I ou exeimes we use oo mea-squae eo (RMSE) o quaify he ecovey accuacy of eh esimaio which is efie as RMSE z z m m ( ' ) () m i whee z is he measue age eh z ' i is he ea age eh a ixe a m is he size of he eh image. Meawhie we use he siga-o-backgou aio (SBR) o quaify he effec of backgou oise which is efie as Nsiga Noa Noise SBR = () N N whee oa oise oise N is he umbe of he oa hoo cous i he measueme ime N oise is he umbe of he hoo cous geeae by backgou oise a ak cou a N siga is he umbe of he hoo cous geeae by he efece ase igh.. Saegy Ue he exisece of backgou oise he RMSE i fis-hoo esimae is c [] which is o ee o whehe his hoo is ue o oise o he efece siga. hus i fis-hoo imagig [] oy usig he OF of a sige hoo easiy aeas a esimaio eo eseciay ea he eges of age. I ou meho we use he OFs of sevea hoos combiig he emoa coeaios of siga hoos o icease he eiabiiy of eh esimae a isiguish siga hoos fom oise hoos. he aace hoos i he ime-ie ae ake as a eemeay ui. We ake a eemeay ui of 3 i ou exeimes. is he OF aase of a hoo ui. he absoue OF iffeeces (soe i asceig oe) ae: (3) Geeay fo a Geige-moe PD he obabiiy of eecio foows Poisso saisics [7 8]. S ( ) is efie as he ae fucio fo he umbe of he hoo cous geeae by he efece ase igh. B b is efie as he ae fucio fo he umbe of he hoo cous geeae by backgou igh ( b whee is he quaum efficiecy of he eeco) a ak cou ( ) which is assume o be cosa a saighfowa o be measue. akig o accou of he muie efece ase uses he ae fucio

3 3 fo he oa hoo cous is ( ) S ( ) B. O he basis of he Poisso saisics he eecio obabiiy of hoos i he h ime-bi is [7 8] ( ) P ( ) ex[ ( ) ] ex[ ( ) ] (4) 0 ( ) whee is he wih of a ime-bi. Sice Equaio (4) is ha o be comue i acice we assume S ( ) is cosa i a sma ime uaio of [ ] fo mi simificaio whee a he OF aase max i of a eemeay ui. he mea umbe of he hoo cous geeae by he efece ase igh i [ ] is aoximaey cacuae fom he ase aa equaio [] E FOV R S S ( ) ( ) COS ag e. R (5) hc I ou exeimes he vaiabes i Equaio (5) ae measue as foows: he waveegh of ase use is =830 m ; E is he asmie eegy of he ase use; he Pak cosa is 34 8 h m kg s ; he see of igh is c=3 0 m s ; he quaum efficiecy of he eeco is 0.35 ; he Fie of View (FOV) of he eceivig oics is 0.4 ma; he ivegece age of he ase beam is.33 ma; he iciece age bewee he ase beam a he suface oma is 0 ag e 0 a COS ag e is aoximaey equa o ; he aeue of he eeco is R = 85 um ; he isace bewee he age a he eeco is =0 m ; he efficiecy of he asmiig oics is =80% ; he efficiecy of he eceivig oics is R =80% ; he efecace of age is N i aoximaey esimae by [] whee x x i i is he umbe of he asmie ase uses a N is he umbe of he hoo cous a ixe ( ) ; he amosheic asmissio faco is. heefoe he eecio obabiiy of siga hoos i a eemeay ui is [7 8] P ex B ex( S B( )). (6) i ixe ( ) he Rak-Oee bsoue Diffeece ( ROD ) is efie as he sum of he fis absoue iffeeces fom he coecio i Equaio (3) [9]. Because he OFs of siga hoos ae chaaceize by he ime-shife ase use shae [0] siga hoos ae maiy a coeaivey isibue i he age of. Meawhie he OFs of oise hoos ae uifomy a ieeey isibue i he use eeiio eio [0 ). hus a biay hyohesis es is aie o isiguish siga ui fom oise ui: if RODi P he he eece hoo ui is oise ui (7) if RODi P he he eece hoo ui is siga ui. If he hoo ui is uge as a oise ui DI coiues o comue he ROD of ex hoo ui ui he fis siga ui is fou. We use he biay hyohesis es o eec oise hoos a oy kee siga hoos fo fuhe ocessig. DI uses he mea vaue of he OF aase of he fis eece siga ui as he iiia eh esimaio: (0). (8) Cosieig he effec of he efece ase-use boaeig he iiia eh esimaio of Equaio (8) is ikey o occu i he foowig hee ievas: ) If i occus i he isig ege of he efece ase use he fia eh esimaio wi be sma; ) If i occus i he faig ege of he efece ase use he fia eh esimaio wi be age; 3) If i occus i he mie of he efece ase use he fia eh esimaio wi be iea. heefoe he iiia eh esimaio is use o seiaim es he subseque eece hoo. If he OF of he subseque eece hoo mees he equieme of Equaio (9) his hoo is ega as a siga hoo. ( ) i i 3... (9) whee is he hesho. he he OF of his hoo is use o uae he eh esimaio of age i ea ime: ( ) ( ) i i i 3... (0) Wih he vaue of ( ) uaig he hoos ha mee he equieme of Equaio (9) ae covege i he age of. ccoig o he OF isibuio feaue of siga hoos hose hoos ae moe ikey o be siga hoos. Because moe a moe ieifie siga hoos ae use o uae he ( ) vaue of his ossibiiy is icease wih he eh esimaio uaig. fe he eh esimaio ieaivey uaig imes ( is he hesho) we ge he OF aase of siga hoos esimaio of age is c a ( ). heefoe he eh z ( c ) () whee is he weigh of a saisfies. () () ( ) = Geeay he umbe of he asmie ase uses ecies he we ime i his ixe. DI cacuaes he miimum we ime i each ixe by couig he miimum umbe of he asmie ase use ui achievig he hesho. he i DI he miimum umbe of he asmie ase use is iffee sice he hoo cous of each ixe ae iffee. heefoe he miimum acquisiio ime i each ixe is obaie a he useess acquisiio ime is emove.

4 4 Cous ROD Noise iumiaio wavefom 0 syc CSPC age eu 3 0 i i i P i ase scae use igh souce sige-hoo eeco ROD i P i So age siga ambie igh age Fig.. (a) is he schemaic iagam of he aaive eh imagig (DI) saegy. he aace hee hoos i he ime-ie ae ake as a eemeay 3 ui. a ae he OFs of he eece oise hoos a is he OF of he eece siga hoo. Sa Paamee seig he OF se of hoo ui: { } ROD P i i he eimiay esimaio: NO B. Pobabiiy of DI ( ) i =+ ( ) ( ) >hesho NO ( 0) ( ) a i z c asfe o ex ixe NO Fig.. (b) is he fow iagam of DI. We efie he eecio obabiiy of a siga ui ( P( RODi P ) i ) i he measueme ime as P. w Pw iicaes he obabiiy ha he OFs of hoos covege i he age of. Because he wih of each ime-bi is Pw is covee o he obabiiy ha a he hoos of a siga ui ae isibue i he same ime-bi. ssumig ha he efece ase use is eece i he k-h ime-bi (he age ime-bi) he obabiiy ha he Geige-moe eeco fies i - h ( 800)ime-bi is [7] P ex[ ( ) B ][ ex( B )] < k k P k ex[ ( ) B - S][ ex( B )] k < 800 () P k ex[ ( k ) BP ][ ex( S B )] k whee S is he mea umbe of he hoo cous geeae by he efece ase igh i he measueme ime. Sice each hoo eecio is a ieee Poisso ocess [7 8] he obabiiy ha a hoos of a siga ui isibue i -h ime-bi is P k whe k whee is he umbe of hoos i a eemeay ui. hus whe eecio obabiiy of a siga ui Pw ( k ) is k w( k ) P k P k he =. (3) he obabiiy of P whe k o k is simia o P w w( k ). heefoe P is comue as w k s k k k k Pw P P P. (4) Fo he Geige-moe PD he age eecio obabiiy a he fase aam obabiiy i he measueme ime ae [8]: P ex[ ( k ) B ][ ex( S B )] (5) P P P ex( S B ) (6) f M whee ex( S B M ) is he obabiiy ha he eeco oes fie a a i he measueme ime (o hoo cous). heefoe he age eecio obabiiy a he fase aam obabiiy i he case of usig DI ae P a P a i ae siga hoo RODi P i (7) Pw P Pf a f have P a eas a oise hoo RODi P. Pw (8) Coveioay he maximum ikeihoo eh esimae (ML esimae) uses he same saegy fo he ocessig of siga hoos a oise hoos. ML esimae obais he eh esimaio of age usig a fixe we ime i each ixe. Sice he hoo cous chage wih he ambie igh a he efeciviy of age suface he ecovey accuacy of ML esimae is ucooabe. Howeve DI eecs oise hoos a oy siga hoos coibue o eh esimaio. Fo a he hoo cous ae geeae by he efece ase igh he ecovey accuacy of DI is sabe. Comaig o he coveioa eh esimae mehos DI akes iffee we ime i iffee aea of he age suface. I he case of usig DI he ase souce asmis ess ase use o he high efeciviy aea a moe ase use o he ow efeciviy aea. hus accoig o he iffee chaaceisics of he age suface DI ca aaivey chage he we ime i each ixe a he obais he accuae eh image i a sho acquisiio ime.

5 5 III. EXPERIMEN RESULS he exeimea scee is show i Figue 3. he age is ace a abou 0m isace fom he eeco. Figue 3(a) is he omaize hoo cous geeae by he efece ase igh which coesos o he iffee ocaios i Figue 3(b). he size of age image is ixes i his exeime. (a) Nomaize hoo cous B C D Pixe Locaio E Fig. 3. he exeimea age scee. (a) is he omaize hoo cous a iffee ocaios of he age. (b) is he age scee. he aea B is a cao covee wih a iece of back coh a he aea is a whie wa. (b) D E B C Howeve fo he age aea wih high efeciviy i s ecovey accuacy cao be imove eve a he exese of og we ime as show i Figues 4 (b) (e) (h) (k). he exeime esus of DI ae show i Figue 5. he aace hee hoos is seece as a eemeay ui o esimae he eh of age ( 3 ). he hesho is se o 0. Figue 5(a) is he eh image of age. Figue 5(b) is he isibuio image of we ime. Figues 5(c) a 5() esecivey coeso o he eh eai esimaio of aea a show i Figue 5(a). Comaig wih Figue 4 i is show i Figue 5 ha he ecovey accuacy of DI is amos uaffece by he age suface efeciviy. Figue 5(b) shows ha DI ca aaivey chage he we ime i each ixe accoig o he age suface efeciviy. Uimaey he obem of ue-samig o og acquisiio ime occue i ML esimae is avoie. he exeime esus of ML esimae ae show i Figue 4. he fis coum fom uwa o owwa is he 3D eh image of age esecivey coesoig o he we ime of 0.5ms 5ms 0ms a 0ms. he seco coum (high efeciviy aea) a hi coum (ow efeciviy aea) esecivey coeso o he eh esimaio of eais i aea a of he fis coum. (a) (b) (c) a b c () (e) (f) (g) (h) (i) () (k) () Fig. 5. he exeimea esus of DI. he aamees ae se ha =0 a 3. (a) is he eh image of age. (b) is he isibuio image of we ime. (c) a () coeso o he eh eais of aea (he whie wa high efeciviy obec) a aea (he back cao ow efeciviy obec) i (a). Comae wih he esus of usig ML esimae as show i abe he RMSE of usig DI is ecease fom.039m o 0.045m esecivey i he coiio of he aveage we ime of.5ms a.ms. he same ime ou meho achieves bee ecovey accuacy ha ha of ML esimae by eucig he aveage we ime fom 0ms o.07ms. abe.he comaiso of he aveage we ime a he RMSE of eh esimaio. we Imagig meho RMSE/m we /ms Fig. 4. he exeime esus of ML esimae. Figues 4(a) ~ (c) show ha ML esimae cao accuaey esimaes he eh of age i a sho we ime. Wih he we ime iceasig he imoveme of ecovey accuacy i he isaae aea is iffee. Eve if he accuacy of high efeciviy aea is imove show i Figues 4(a) ~ (c) a Figues 4() ~ (f) he eh of ow efeciviy aea si cao be accuaey esimae. s a esu i esus i he obem of ue-samig as show i Figue 4(f). Wih he we ime iceasig he ecovey accuacy of ow efeciviy aea is gauay imove as show i Figues 4(c) (f) (i) (). 0 ML esimae DI a isace of 0m he age eecio obabiiy a a fixe oi of he whie wa is acquie wih 00 asmie ase uses. he aamee is se o a is se o 3. his exeime is couce i iffee backgou oise of SBR a SBR 0. he age eecio obabiiy of

6 6 DI a ML esimae ae comae a he same we ime show i abe. abe. he comaiso of he age eecio obabiiy SBR SBR 0 abe3. he effec of hoo ui size a backgou oise RMSE/m SBR SBR 0 we /ms RMSE/m we /ms ML esimae DI ML esimae DI % 93% 85% 96% 3 58% 94% 8% 99% 4 57% 97% 86% 99% s show i abe he age eecio obabiiy i he case of usig DI is icease by eay -fo ue he backgou coiio of SBR. We fi ha he size of siga ui i DI has a effec o he age eecio obabiiy: wih he size of siga ui iceasig he age eecio obabiiy is icease a he same ime. he effec of hoo ui size a backgou oise o ou meho ae esecivey show i Figue 6 a abe 3. I his exeime he aveage OF of iiia eece siga ui (0) is seece o ecove he eh image of age. he exeime esus show ha wih he size of hoo ui iceasig he RMSE is imove bu he aveage we ime is icease. (a) (b) Figue 7 shows how he efomace of DI is affece by chagig he hesho. he age is a cao wih back chaaces of DELL i he fa suface which is ace i 0m away fom he eeco. I his exeime he hoo ui size 3 is seece o esimae he eh of age. Fom he uwa o owwa hey ae esecivey he eh image of he fa suface of he cao (ef coum) a he isibuio image of we ime (igh coum) coesoig o he hesho of 5 0 a 0. he exeime esus evea ha wih he vaue of he hesho iceasig he RMSE of usig DI eceases quicky whie he coesoig aveage we ime is icease. = RMSE=0.0388m aveage we ime=0.039ms (c) () =5 RMSE=0.0775m aveage we ime=0.557ms (e) (f) =0 RMSE=0.084m aveage we ime=0.3038ms (g) (h) Fig. 6. he effec of he hoo ui size. (a) is he exeimea age scee. (b) is he oigia oisy age aa. (c) (e) a (g) ae he eh image of age esecivey coesoig o he exeimea esus of hoo ui size 3 a 4. () (f) a (h) ae he eais of (c) (e) a (f). =0 RMSE=0.000m aveage we ime=0.6383ms Fig. 7. he effec of he hesho. Fom he uwa o owwa hey ae esecivey he eh image of he fa suface of he cao (ef coum) a he isibuio image of we ime (igh coum) coesoig o he hesho of 5 0 a 0.

7 7 IV. CONCLUSIONS We oose a ove eh imagig saegy ha ca aaivey chage he we ime i each ixe a fas accuaey ecove he scee eh. he OFs of siga hoos ae maiy a coeaivey isibue i he age of he FWHM of he emie ase use; o he ohe ha he OFs of oise hoos ae uifomy a ieeey isibue i he use eeiio eio [0 ). Usig his isibuio feaue ou meho efficiey fies ou oise hoos a oy siga hoos coibue o he eh esimaio. ccoig o he chaaceisics of he age suface icuig he suface efeciviy he meho we oose ca aaivey chage he we ime a ecease he useess we ime i each ixe which wi sigificay shoe he acquisiio ime of eh esimaio. I his ae he oeaio fow of ou meho is eaboae a sevea exeimes ae couce o emosae he efomace of his meho. Comae wih he yica eh esimae meho base o maximum ikeihoo (ML esimae) ou meho ee o o geeae he hoo-cou hisogam a has a bee efomace i ecovey accuacy as we as he acquisiio ime. he exeimea esus evea ha: he RMSE is imove fom.039 m (i ML esimae) o m (i DI) i a equa aveage we ime; i he case of acquiig amos he same accuacy he aveage we ime is ecease fom 0 ms (i ML esimae) o.07 ms (i DI); ue he backgou coiio of SBR he age eecio obabiiy i he case of usig DI is icease by eay -fo i coas wih ha of ML esimae. heefoe ou meho successfuy eas wih he obem of ue-samig o og acquisiio ime i ML esimae a is caabe of aaivey akig a cea 3D image which is usefu i ai o owe-imie acive oica imagig. CNOWLEDGMEN he auhos gaefuy ackowege he suo fom he Seveh Six-ae Peak oec of Jiagsu Povice (Ga Nos. 04-DZXX-007) he Naioa Naua Sciece Fouaio of Chia (Ga Nos. 6733) he Fuamea Reseach Fus fo he Cea Uivesiies (Ga Nos ) he Iovaio Fu Poec fo ey Laboaoy of Ieige Peceio a Sysems fo High-Dimesioa Ifomaio of Miisy of Eucaio (Ga Nos. JYB0509) a he Fu Poec fo Low-igh-eve Nigh Visio Laboaoy (Ga Nos. J03050). [4] Hog Ji og ae Hoo im Sug Eu Jo a Mi Seok Oh Sma hee-imesioa imagig aa usig wo Geige-moe avaache hooioes O. Exess 9(0) (0). [5] Ziig Zhag Yua Zhao Yog Zhag Log Wu a Jiazhog Su ea-ime oise fieig saegy fo hoo couig 3D imagig ia O. Exess (8) (03). [6] Hui Zhou Yuhao He Lixig You Sii Che Weiu Zhag Juie Wu Zhe Wag a Xiaomig Xie Few-hoo imagig a 550 m usig a ow-imig-ie suecoucig aowie sige-hoo eeco O. Exess 3() (05). [7] ogus McCahy Robe J. Cois Nis J. iche Log-age ime-of-figh scaig seso base o high-see ime-coeae sige-hoo couig. O 48(3) (009). [8] ogus McCah Nis J. iche Naha R. Gemme iomee-age high esouio eh imagig via 560 m waveegh sige-hoo eeco O. Exess (7) (03). [9] ogus McCahy Ximig Re iao Dea Fea iomee-age eh imagig a 550 m waveegh usig a IGas/I sige-hoo avaache ioe eeco O. Exess (9) (03). [0] Hyuug Shim a Seugkyu Lee Hybi exosue fo eh imagig of a ime-of-figh eh seso O. Exess () (04). [] hme ima Dheea Vekaama Dogeek Shi ea Coaco Faco N. C. Wog Jeffey H. Shaio a Vivek Goya Fis-hoo imagig Sciece (04). [] D. Shi. ima. Coaco a V.. Goya Paameic Poisso ocess imagig i Poc. IEEE Goba Cof. Siga Ifom. Pocess. usi X Dec [3]. ima. Coaco D. Shi a V.. Goya Saio-emoa eguaizaio fo age imagig wih high hoo efficiecy i SPIE Wavees a Sasiy XV Sa Diego C ug F-8858F. [4] Mase Disseaio: SIM Boyu Phoo-couig ase aa 3D imagig sysem esig a imaaio [D]. Naig: Naig Uivesiy of Sciece a echoogy 03. [5] Nis J. iche ogus McCahy a Gea S. Bue Resovig age ambiguiy i a hoo couig eh image oeaig a kiomee isaces O. Exess 8(9) (00). [6] Phii. Hiske Coi S. Pay ogus McCahy a Gea S. Bue hoo-couig ime-of-figh agig echique eveoe fo he avoiace of age ambiguiy a gigahez cock aes O. Exess 6(8) (008). [7] Makus Heiksso Deecio obabiiies fo hoo-couig avaache hooioes aie o a ase aa sysem. Oics 44(4) (005). [8] Daie G. Fouche Deecio a fase-aam obabiiies fo ase aas ha use Geige-moe eecos. Oics 4(7) (003). [9] Gae R Huegeich Chui C e a. uivesa oise emova agoihm wih a imuse eeco. IEEE asacios o Image Pocessig 005 4(): [0] D. L. Sye Raom Poi Pocesses Wiey New Yok 975. []. V. Geaia Lase Raa Sysems (ech House Boso 99). [] Y. Che J. D. Mue P.. So a E. Gao he hoo couig hisogam i fuoescece fucuaio secoscoy Biohys. J. vo. 77o [3] B. I. Ekme a B. Moisio Maximum ikeihoo ime-of-aiva esimaio of oica uses via hoo-couig hooeecos i Poc. IEEE I. Sym. Ifom. heoy REFERENCES [] S. B. Gokuk H. Yaci a C. Bam ime-of-figh eh seso sysem esciio issues a souios i Poc. IEEE Cof. Comu. Vis. Pae Recog [] M. Umasuha. M. Waace J. S. Massa G. S. Bue. C. Wake Pocessig ime-coeae sige hoo couig aa o acquie ag images IEEE Poc. Vis. Image Siga Pocess. 45(4) (998). [3]. ima. Coaco F. N. C. Wog a V.. Goya Exoiig sasiy i ime-of-figh age acquisiio usig a sige ime-esove seso O. Ex. 9() (0).