Non-Line-of-Sight Location With Gauss Filtering Algorithm Based on a Model of Photon Flight

Recently, non-line-of-sight (NLOS) detection based on time of flight (TOF) has been investigated. In order to simulate the NLOS location of a hidden object, we derive the signal scattered by the object and build a model of photon flight based on photon scattering and propagation. To improve the authenticity of the model, the bidirectional reflectance distribution function (BRDF) is used to characterize the scattering process. The Gauss filter is proposed to extract the TOF of the scattering sources of interest without a priori information or manual judgment of the useful scattered signal by filtering the disturbance out of the histogram. The hidden object can then be located by TOF processing. Compared with previous work using a fitting algorithm, the Gauss filtering approach preserves more waveform information and presents improved positioning accuracy and robustness under the influence of noise, which is demonstrated in both simulation and experiment. It is possible to locate a NLOS object automatically through filtering identification of the object signal. The simplicity, high efficiency, and automation of this algorithm make it applicable for tracking a hidden moving object.