CN106646510B - A kind of first photon laser imaging system based on photon label - Google Patents
A kind of first photon laser imaging system based on photon label Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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Abstract
A kind of first photon laser imaging system based on single photon label, including photon coded system, 1 × N laser array (2), optical path turn back element (3), two-dimensional scanner (4), telescopic optical system (5), light beam concentrating element (6), photon decoding system (7), 1 × N single-photon detector array (8), multichannel Single Photon Counting system (9) and control with data collection system (10).Apparatus of the present invention are using photon label and Gao Zhongying head photon imaging algorithm, it can overcome the problems, such as that existing first photon laser imaging system pulse recurrence frequency is limited to be difficult to be promoted, the speed for improving first photon laser imaging system data acquisition, shortens first photon laser imaging time.
Description
Technical field
The invention belongs to optical image technology fields and photon counting technique of laser imaging field, and being related to one kind can be quick
The first photon laser imaging system of imaging.
Background technique
Traditional laser radar uses linear probing system, includes thousands of photons in laser echo pulse, dependence is higher
Signal-to-noise ratio echo-signal is detected from ambient noise, this high Laser emission energy limit laser repetition rate, number
According to sample rate and maximum operating range.In order to solve this problem, laser radar is just towards low emitted energy, Gao Zhongying, height
The direction of sensitive detection is developed, and is most commonly that photon counting laser three-dimensional imaging technology, at present with U.S. NASA, MIT woods
Agreeing laboratory is representative, using Gao Zhongying, the single-photon detector of low-energy laser transmitter and high sensitivity, by linear probing
Echo waveform detection under system comprising a large amount of photons is converted to " counting " for single echo photo-event, sufficiently applies
Energy in echo-signal.But in order to extract signal from ambient noise and dark counting, which needs using more
A photo-event accumulation method, then each pixel remains that accumulation dozens of photon.
The first photon imaging technology currently proposed uses Geiger mode angular position digitizer single-photon detector, and echo-signal energy is lower than 0.1
A every pulse of photon, the first photon that system is no longer imaged by the method that photo-event is accumulated, but responded from detector
The reflectivity and elevation information of target are obtained in step-by-step counting and delay time, while background is rejected using first photon imaging algorithm
The influence of noise will be expected to greatly simplify laser radar system, further decreases system and wants to power consumption, aperture of mirror of looking in the distance etc.
It asks.But the accurate time information of first photon in order to obtain, the at present repetition rate of head photon imaging technical requirements laser
F≤c/2s, wherein c is the light velocity, and s is the distance of target relative laser radar.Once the repetition rate of laser is more than this threshold
Value, the temporal information for responding photon is possible to period aliasing occur, thus can not correctly be finally inversed by target reflectivity information and
Elevation information.Also, current first photon imaging system works under the conditions of extremely low echo strength, when detector response is first
When photon, laser needs to emit multiple pulses, and the limitation of repetition rate extends the time of system data acquisition,
To influence the timeliness of system imaging, it is unfavorable for it and target scene of movement or variation is imaged, has in the application very big
Limitation.
Summary of the invention
Technical problem solved by the present invention is under the conditions of existing first photon laser imaging system high repetition frequency can be overcome
There is the deficiency of period aliasing in the temporal information of response photon, breaks through the limited problem of the system pulses repetition rate, provides one
Kind can under the conditions of extremely low echo signal intensity fast imaging first photon laser imaging system.
The technical solution of the invention is as follows: a kind of first photon laser imaging system based on photon label, including photon
Coded system, 1 × N laser array, optical path turn back element, two-dimensional scanner, telescopic optical system, light beam focus member
Part, photon decoding system, 1 × N single-photon detector array, multichannel Single Photon Counting system and control and number
According to acquisition system；N is positive integer；
The photon coded system utilizes switching circuit control 1 according to the control instruction of control and data collection system
The driving power of laser diode in × N laser array in each laser makes N number of laser in 1 × N laser array
Device, in a paracycle T, T/N at regular intervals, successively emit narrow spaces with markd single photon arteries and veins
Punching；The single photon pulses of N number of laser transmitting are finally turned back mirror, two-dimensional scanner to mesh along same optical path by closing beam
Mark transmitting；The echo optical signal that target is reflected back reaches photon through telescopic optical system, light beam concentrating element and decodes system, light
After subsolution code system will be spatially separating with markd single photon pulses, corresponding send to 1 × N single-photon detector array is visited
It surveys；The signal detected is exported at most channel time correlated single photon number system and control by 1 × N single-photon detector array
With data collection system, the information with markd single photon pulses is extracted, passes through Gao Zhongying head photon imaging algorithm later
Inverting and denoising, the albedo image and elevation image of final displaying target are carried out to data.
Each single-photon detector work is in Geiger mode angular position digitizer in 1 × N single-photon detector array.
The coding form of the photon coded system is polarization encoder or Wavelength-encoding, and the photon decodes system pair
It is divided in the single photon pulses of polarization encoder using polarization beam apparatus, grating is used for the single photon pulses of Wavelength-encoding
Light splitting.
The multichannel Single Photon Counting system with 1 × output of N number of single-photon detector is connected, record
Reach the delay time of first single photon pulses of 1 × N single-photon detector array.
The control is connected with data collection system with the input of photon coded system, passes through instruction control photon coding
The switch of system；Control is connected with data collection system with the output of 1 × N single-photon detector array simultaneously, and record arrival 1 ×
The encoded information and step-by-step counting of first single photon pulses of N single-photon detector array；Control simultaneously and data acquisition system
System is connected with the output of multichannel Single Photon Counting system, and storage reaches the first of 1 × N single-photon detector array
Delay time of a single photon pulses, and to the information with markd single photon pulses, including encoded information, step-by-step counting and
Delay time carries out inverting and denoising, the elevation image and albedo image of final displaying target.
The beneficial effect of the present invention compared with prior art is:
(1) method that present system uses photon label only needs to add in original first photon imaging system-based
Photon code device and photon decoding apparatus, while under the auxiliary of 1 × N laser array and 1 × N single photon detection array,
The upper limit of the first permitted repetition rate of photon imaging system is promoted to N times of the prior art, reduces the first photon imaging time,
The specific aim and timeliness of imaging are improved, there is higher temporal resolution；
(2) the photon coded system that present system is related to is using each sharp of switching circuit control 1 × N laser array
Light device timesharing issues the pulse for carrying mark information, and the pulse of each laser transmitting is by closing beam, by the optical path being completely coincident, warp
Mirror, two-dimensional scanner turn back to objective emission, without adjusting the position of former scanning means, telescopic optical system, avoids compiling
The circuit design of the use of electro-optic crystal and complexity during code, increases the stability of system.
(3) the photon labeling method that present system is related to decodes system using the information codings such as polarization or wavelength, photon
It is a passive beam splitting system, is not necessarily to photodetection in decoding process, different coding information will be carried merely with optical instrument
Photon is spatially separating, and does not consume the photon energy for imaging, without increasing the power consumption of transmitting terminal laser.
Detailed description of the invention
Fig. 1 is a kind of first photon laser imaging system schematic diagram based on single photon label of the present invention；
Fig. 2 a- Fig. 2 b is respectively system schematic of the photon coded system of the present invention under polarization, Wavelength-encoding form；
Fig. 3 a- Fig. 3 b is respectively system schematic of the photon decoding system of the present invention under polarization, Wavelength-encoding form；
Fig. 4 a- Fig. 4 b is respectively S-polarization, the P polarization single photon pulses that present system obtains under polarization encoder form
Pulse-counting data the simulation experiment result；Fig. 4 c- Fig. 4 d is respectively the S that present system obtains under polarization encoder form
It polarizes, the simulation experiment result of the delay time data of P polarization single photon pulses.
Fig. 5 a- Fig. 5 d be respectively present system obtained under Wavelength-encoding form 635nm, 650nm, 660nm,
The simulation experiment result of the step-by-step counting of 670nm single photon pulses；Fig. 5 e- Fig. 5 h is respectively present system in Wavelength-encoding shape
The simulation experiment result of the delay time data of 635nm, 650nm, 660nm, 670nm single photon pulses obtained under formula.
Fig. 6 a, Fig. 6 d are respectively the albedo image and elevation image of the object to be measured scene of present system；Fig. 6 b, figure
6e is respectively the step-by-step counting figure and delay time figure for the single photon pulses that present system exports each detector；Fig. 6 c, figure
6f is respectively present system using the albedo image and elevation image after Gao Zhongying head photon imaging algorithm inverting and denoising.
Specific embodiment
The present invention proposes a kind of first photon laser imaging system based on photon label, as shown in Figure 1 includes that photon encodes
System 1,1 × N laser array 2, optical path turn back element 3, two-dimensional scanner 4, telescopic optical system 5, light beam focus member
Part 6, photon decoding system 7,1 × N single-photon detector array 8, multichannel Single Photon Counting system 9 and control with
Data collection system 10, wherein the monochromatic light of photon coded system 1 and the composition transmitting carrying mark information of 1 × N laser array 2
Subpulse light source；Photon decoding system 7 is placed at the focal plane of light beam concentrating element 6, before single-photon detector array 8, is passed through
The single photon for carrying different mark informations is spatially separating.Control is developed into software package on computers with data collection system 10
Operation issues a command to photon coded system 1 to control 1 × N laser array 2 and emit single photon pulses, record and place in order
Reason reaches the information of the single photon pulses of 1 × N single-photon detector array 8, and carries out inverting and denoising, displaying target to data
Elevation image and albedo image.
The photon coded system 1 passes through switching circuit control according to the control instruction of control and data collection system 10
The driving power of laser diode in laser array 2 processed in each laser, allow in laser array 2 N number of laser successively
Emit narrow spaces with markd single photon pulses；The single photon pulses of N number of laser transmitting are by closing beam, finally along same
Optical path is turned back mirror 3, two-dimensional scanner 4 to objective emission；The echo optical signal that target is reflected back is through telescopic optical system
5, light beam concentrating element 6 reaches photon and decodes system 7, and photon decoding system 7 will be spatially separating with markd single photon pulses
Afterwards, corresponding send to 1 × N single-photon detector array 8 is detected；The signal that 1 × N single-photon detector array 8 will detect
Output at most channel time correlated single photon number system 9 and control and data collection system 10, extract with markd list
The information of photon pulse, later control carry out inverting to data using Gao Zhongying head photon imaging algorithm with data collection system 10
And denoising, the elevation image and albedo image of final displaying target.
As shown in Fig. 2, the present invention has two kinds of polarization encoder, Wavelength-encoding forms.As shown in Fig. 2 (a), compiled using polarization
Code, such as S-polarization and P polarization, that is, the case where taking N=2.Each laser is by between the equal time in definition 1 × N laser array
Every successively emit a single photon pulses as one paracycle T, then the size of time interval be T/N.One paracycle T
Interior, the driving power of the switching circuit control laser diode in photon polarization encoder system 1 allows laser 11 to send out at 0 moment
The single photon pulses of S-polarization out, laser 12 issue the single photon pulses of P polarization, the single photon pulses of S-polarization at the T/2 moment
Through polarization beam apparatus 15 reflection, P polarization single photon pulses transmitted through polarization beam apparatus 15, S, P polarization single photon pulses most
Emit eventually along identical optical path.Wherein, the polarization of laser 11,12 is modulated by the polarizing film after being added in laser, after laser
Add suitable attenuator, for the emitted energy for laser 11,12 of decaying, and adjusts the exomonental energy of laser 11,12
Amount keeps exomonental average photon number equal.As shown in Fig. 2 (b), using Wavelength-encoding, such as four kinds of different wavelength, i.e. N=
4 the case where.Within a paracycle, the driving power of the switching circuit control laser diode in photon wavelength coded system 1,
Allowing laser 11 to issue wavelength at 0 moment is λ1Single photon pulses, laser 12 the T/4 moment issue wavelength be λ2Monochromatic light
Subpulse, it is λ that laser 13, which issues wavelength at the T/2 moment,3Single photon pulses, laser 14 issues wavelength at the 3T/4 moment and is
λ4Single photon pulses, λ1、λ2、λ3The single photon pulses of wavelength are respectively corresponded by mirror 16,17,18 of turning back, spectroscope 19,20,
21, with λ4Optical path merge, finally along identical optical path emit.Wherein, four wavelength Xs1、λ2、λ3、λ4Size is close, and observes
Target is approximately uniform to the reflectivity of these wavelength.Mirror 16,17,18 turn back respectively to wavelength X1、λ2、λ3Photon total reflection, it is thin
Different film layers are plated on 19,20,21 surface of film spectroscope, make film spectroscope 19,20,21 only to λ1、λ2、λ3Photon reflection, to it
The photon of his wavelength transmits.Here by taking the photon coded system of four wavelength as an example, but the present invention is not limited only to four wavelength.
As shown in figure 3, the present invention has two kinds of polarization decoding, wavelength decoding forms.As shown in Fig. 3 (a), photon polarization decoding
In system, polarizing beam splitter mirror 22 is placed at the focal plane of beam forming system, and the photon of S-polarization is reflected to single photon in echo-signal
Detector 81, the photon of P polarization are reflected to single-photon detector 82, and the output signal of single-photon detector 81,82 is sent at most
Channel time correlated single photon number system 9, k-th of paracycle, if first photon of response is S-polarization photon, pulse
Counting is denoted as 2k-1, if first photon of response is P polarization photon, step-by-step counting is denoted as 2k, and step-by-step counting is sent to control
With data collection system 10, data inversion and denoising are carried out with Gao Zhongying head photon imaging algorithm, algorithm is detailed in document (Ahmed
Kirmani,Dheera Venkatraman,Dongeek Shin,AndreaFranco N.C.Wong,Jeffrey
H.Shapiro,Vivek K Goyal,First Photon Imaging,Science,Vol.343,Issue 6166,
pp.58-61(2014)).As shown in Fig. 3 (b), in photon wavelength decoding system, echo-signal passes through a slit 23 and collimation
Mirror 24 becomes directional light directive dispersion element 25, and directional light is divided into various monochromatic light by dispersion element 25, and imaging lens 26 are by space
Upper scattered monochromatic light is collected and is focused on corresponding single-photon detector 81-84, the output of single-photon detector 81-84
Signal send at most channel time correlated single photon number system 9, in k-th of paracycle of single photon pulses transmitting, if single photon
81,82,83 or 84 pairs of single photon pulses of detector generate first response, and corresponding step-by-step counting is denoted as 4k-3,4k-2,4k-1
Or 4k, later step-by-step counting are sent to control and data collection system 10, it is anti-to carry out data with Gao Zhongying head photon imaging algorithm
It drills and denoises.Wherein, dispersion element 25 is plane grating, and single-photon detector 81-84 is by adding suitable decaying in front
Piece makes four single-photon detectors to the size modulations of the detection efficient of four wavelength to unanimously.Here by taking four wavelength as an example
Analysis, but the present invention is not limited only to four wavelength.
It is carried out specifically below with reference to the example first photon laser imaging system based on single photon label a kind of to the present invention
Bright, target scene to be detected is a military USAF target, has 600 × 600 pixels, and the value range of reflectivity is
[0,1], the value range of elevation information are [2.5m, 3.5m].The pulse recurrence frequency of each laser of laser imaging system
For 10MHz.Target scene is imaged in laser array by the way of the scanning of pixel one by one, to the single photon of each pixel transmitting
The sum of pulse is no more than 1000.After single photon tagging scheme, the pulsimeter of control and the acquisition of data collection system 10
Several value ranges is [0,1000/N].When recording delay time, multichannel Single Photon Counting system 9 is in a weight
Delay time detection window in the frequency period is [10/3ns, 70/3ns], and temporal resolution 20/3ps, then delay time detects
The corresponding time interval number of window is [0,3000].Since the height value of target to be detected in this example is [2.5m, 3.5m], institute
The value range of the delay time of survey corresponding time interval number is [2000,3000].
Present system application photon polarization is illustrated in figure 4 come when marking single photon pulses, S-polarization and P obtained
Polarize the step-by-step counting and the initial data of delay time of single photon pulses.Polarization encoder scheme and decoding scheme are respectively such as Fig. 2
(a) and shown in Fig. 3 (a).It is tested by numbered analog simulation, the imaging time of the scheme based on marking of polarization is 5.7965s, than
Not using the imaging time 11.5849s of the scheme of single photon label, imaging time shortens 50%.
When being illustrated in figure 5 present system application Wavelength-encoding and wavelength decoding, four kinds of wavelength single photon arteries and veins of acquisition
The step-by-step counting of punching and the initial data of delay time.Wherein, take the single photon pulses of lambad labeling have 635nm, 650nm,
Tetra- kinds of 660nm, 670nm, Wavelength-encoding scheme and decoding scheme are respectively as Fig. 2 (b) and Fig. 3 (b) is shown.It is imitative according to numerical simulation
True experiment, the total imaging time of the scheme based on lambad labeling are 2.9024s, than the imaging time of the scheme of no photon label
11.5849s imaging time shortens 75%.
If Fig. 6 (a) show the reflectance map of the object to be measured scene of present system, the wherein reflectivity of target scene
Between [0,1].As Fig. 6 (b) show the pulse-counting data for the single photon pulses that present system exports each detector
Step-by-step counting figure after being integrated into together.As Fig. 6 (c) show present system using the algorithm inverting of Gao Zhongying head photon imaging
With the reflectivity picture after denoising.As Fig. 6 (d) show the elevation map of the object to be measured scene of present system, wherein target field
The elevation information of scape is at [2.5m, 3.5m].As Fig. 6 (e) show the single photon pulses that present system exports each detector
Delay time data be integrated into together after delay time figure, as Fig. 6 (f) show present system using Gao Zhongying head light
Elevation picture after sub- imaging algorithm inverting and denoising.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (5)
1. it is a kind of based on photon label first photon laser imaging system, it is characterised in that: including photon coded system (1), 1 ×
N laser array (2), optical path are turned back element (3), two-dimensional scanner (4), telescopic optical system (5), light beam concentrating element
(6), photon decoding system (7), 1 × N single-photon detector array (8), multichannel Single Photon Counting system (9) with
And it controls and data collection system (10)；N is positive integer；
The photon coded system (1) utilizes switching circuit control according to the control instruction of control and data collection system (10)
The driving power for making the laser diode in 1 × N laser array (2) in each laser, makes in 1 × N laser array (2)
N number of laser, in a paracycle T, T/N at regular intervals, successively emit narrow spaces with markd list
Photon pulse；The single photon pulses of N number of laser transmitting are finally turned back element (3), two along same optical path through optical path by closing beam
Scanning means (4) are tieed up to objective emission；The echo optical signal that target is reflected back focuses member through telescopic optical system (5), light beam
Part (6) reaches photon decoding system (7), corresponding after photon decoding system (7) will be spatially separating with markd single photon pulses
It send to 1 × N single-photon detector array (8) and is detected；1 × N single-photon detector array (8) exports the signal detected
At most channel time correlated single photon number system (9) and control and data collection system (10), extract with markd list
The information of photon pulse carries out inverting and denoising, final displaying target to data by Gao Zhongying head photon imaging algorithm later
Albedo image and elevation image.
2. a kind of first photon laser imaging system based on photon label according to claim 1, it is characterised in that: described
Each single-photon detector work is in Geiger mode angular position digitizer in 1 × N single-photon detector array (8).
3. a kind of first photon laser imaging system based on photon label according to claim 1, it is characterised in that: described
The coding form of photon coded system (1) be polarization encoder or Wavelength-encoding, described photon decoding system (7) is for polarization
The single photon pulses of coding are divided using polarization beam apparatus, use grating beam splitting for the single photon pulses of Wavelength-encoding.
4. a kind of first photon laser imaging system based on photon label according to claim 1, it is characterised in that: described
Multichannel Single Photon Counting system (9) with 1 × output of N number of single-photon detector is connected, record reaches 1 × N
The delay time of first single photon pulses of single-photon detector array (8).
5. a kind of first photon laser imaging system based on photon label according to claim 1, it is characterised in that: described
Control be connected with data collection system (10) with the input of photon coded system (1), pass through instruction control photon coded system
(1) switch；Control is connected with data collection system (10) with the output of 1 × N single-photon detector array (8) simultaneously, records
Reach the encoded information and step-by-step counting of first single photon pulses of 1 × N single-photon detector array (8)；Simultaneously control with
Data collection system (10) is connected with the output of multichannel Single Photon Counting system (9), and storage reaches 1 × N monochromatic light
The delay time of first single photon pulses of sub- detector array (8), and to the information with markd single photon pulses, packet
Encoded information, step-by-step counting and delay time are included, inverting and denoising, the elevation image and reflectance map of final displaying target are carried out
Picture.
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| CN108919479B (en) * | 2018-06-22 | 2024-06-04 | 深圳市润沃自动化工程有限公司 | Laser reflection imaging device |
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| CN109901160B (en) * | 2019-02-22 | 2022-12-16 | 华中光电技术研究所（中国船舶重工集团有限公司第七一七研究所） | Three-dimensional laser imaging radar and three-dimensional depth image reconstruction method thereof |
| CN109946710B (en) * | 2019-03-29 | 2023-12-26 | 中国科学院上海技术物理研究所 | Dual-wavelength multi-polarization laser imaging device |
| CN110940964A (en) * | 2019-12-31 | 2020-03-31 | 西安炬光科技股份有限公司 | Laser radar and signal identification method |
| CN111208531A (en) * | 2020-01-19 | 2020-05-29 | 中国科学技术大学 | Single photon imaging laser radar system based on wide-spectrum light source |
| CN111896126B (en) * | 2020-08-03 | 2021-11-09 | 四川九洲电器集团有限责任公司 | Optical path delay coding method and coding system |
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| WO2013066959A1 (en) * | 2011-10-31 | 2013-05-10 | The Trustees Of Columbia University In The City Of New York | Systems and methods for imaging using single photon avalanche diodes |
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