Figure 1.

The data collection setup: Fianium laser delivers 30 ps duration light pulses. The collimated laser beam is directed to a scatterer, which creates divergent speckle pattern (giving divergence of 40 degree apex angle) inside the box, which are directed to the black box specially designed for the robot. Scattering illumination will reduce potential interference effects at the detector and, using controlled speckle pattern could be used to increase the lateral resolution. The light scattered from the moving object (NAO V4) and the walls is detected using single-pixel hybrid photodetector (HPD), which detects the temporal evolution of back scattered light.