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. 2022 Jun 9;13:3333. doi: 10.1038/s41467-022-31087-9

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© The Author(s) 2022

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 4 — a–c Imaging with planar, disconnected, and curved surfaces, respectively. From left to right are the flash LiDAR imaging of the relay surfaces, and two example hidden objects rendered as a projection image in the front view, and a 3D (three-dimensional) point cloud. Ground truth photographs of the object are shown in the inset of the front view image. d, e Reconstructed NLOS images for the disconnected and curved surfaces, respectively, with defocus errors on the relay wall, and those recovered with extended depth of field (highlighted by the green box). The quality of reconstruction degrades when the camera’s extended depth of field is disabled.