点云中的幽灵：在瞬态域消除激光雷达眩光
Ghosts in the Point Clouds: De-glaring LiDAR in the Transient Domain
针对固态激光雷达内部多径眩光导致的点云伪影，提出瞬态眩光扩散函数（TGSF）线性模型，并在点云形成前的低层回波上做无训练去眩光，可直接嵌入现有激光雷达信号处理流水线。
原文依据 internal-multipath glare ... phantom objects ... ghosts in the point clouds
摘要译文
由模型翻译 · 术语统一 · 请对照原文核对关键结论现代激光雷达正迅速从笨重的机械扫描系统转向超紧凑、低成本、固态阵列。这种小型化在带来可扩展性、可负担性和类相机数据结构的同时，也引入了一种新的严重失效模式：内部多径眩光。当来自明亮或回射表面的光在激光雷达内部反射和散射时，本应到达单个像素的光会扩散到整个像素阵列。由此产生的伪影会制造虚假物体、遮蔽真实物体，并产生安全关键的“点云中的幽灵”。本文引入一个基于物理的传感模型和算法技术来应对这一效应。我们证明，内部眩光可以表示为一个作用于瞬态测量的线性、场景无关的算子——瞬态眩光扩散函数（TGSF）。基于该模型，我们开发了一种无需训练的方法，在点云形成之前对低层激光雷达检测（或回波）进行操作，利用眩光扩散函数的先验知识来推断每个检测由眩光引起的似然。所得方法兼容现有激光雷达信号处理流水线，并可部署在未经修改的商用传感器上。通过使用真实单光子激光雷达硬件的实验，我们展示了在保留真实场景结构的同时对严重眩光伪影的显著抑制。
英文原文摘要 1429 字符
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.