Figure 4.

Overview of the image cube method: (a) The illuminating laser pulses back-scattered from a scene are measured as (b) broadened signals; (c) an image cube, containing images at different depths, is obtained using the measured signals; (d) each transverse location has an intensity distribution along the longitudinal axis, indicating depth information; (e) reflectivity and (f) a depth map can be estimated from the image cube, and then be used to reconstruct (g), a 3D image of the scene. Experimental data used in this figure is from the work of [45].