The ability to form non-line-of-sight (NLOS) images of changing scenes could be transformative in a variety of fields, including search and rescue, autonomous vehicle navigation, and reconnaissance. Most existing active NLOS methods illuminate the hidden scene using a pulsed laser directed at a relay surface and collect time-resolved measurements of returning light. The prevailing approaches include raster scanning of a rectangular grid on a vertical wall opposite the volume of interest to generate a collection of confocal measurements. These are inherently limited by the need for laser scanning. Methods that avoid laser scanning track the moving parts of the hidden scene as one or two point targets. In this work, based on more complete optical response modeling yet still without multiple illumination positions, we demonstrate accurate reconstructions of objects in motion and a 'map' of the stationary scenery behind them. The ability to count, localize, and characterize the sizes of hidden objects in motion, combined with mapping of the stationary hidden scene, could greatly improve indoor situational awareness in a variety of applications.

翻译：在各个领域,包括搜索和救援、自主车辆导航和侦察领域,对变化场景形成非视线图像的能力可能具有变革性。现有大多数活跃的NLOS方法都使用对中继表面的脉冲激光对隐蔽场景进行照明,并收集对返回光的破解时间测量数据。常用的方法包括:在对视量对面的垂直墙上对矩形网格进行射线扫描,以生成一系列凝固测量数据。这些必然受到激光扫描需要的限制。避免激光扫描的方法将隐藏场景的移动部分作为一两个点目标进行跟踪。在这项工作中,以更完整的光学反应模型为基础,但仍然没有多个照明位置,我们展示了移动物体的准确重建情况,以及其后面的固定场景的“图示”。计算、定位和描述运动中的隐藏物体大小的能力,加上对固定场景的绘图,可以极大地提高各种应用中的室内情况意识。