Fig. 1. 3D imaging with fusion data. (a) Data acquisition process; (b) 3D images recovery process; in the 3D images recovery process, the ANN training is performed only once, and then the MLP algorithm can directly reconstruct the 3D image from the temporal histogram. The radar represents the millimeter-wave radar. The human moves in an empty room.

Fig. 2. Single-pixel SPD imaging simulation result. (a) Single-pixel 3D imaging symmetry blur result due to lack of background information; (b) 3D imaging without symmetry blur in the background.

Fig. 3. Simulation and reconstruction results of the fusion method. (a)–(c) Images recovered using a fused data-based 3D image reconstruction algorithm; (d)–(f) images recovered using only single-photon data. The first column shows fused temporal histograms generated by simulation [(a)–(c)] or histograms with only single-photon data [(d)–(f)], the second column shows the ground-truth depth maps generated by simulation, and the third column shows the reconstructed images of the time histogram recovered by the MLP algorithm.

Fig. 4. Schematic diagram of the experimental system and experimental scene. (a) Schematic of the layout of the 1550 nm fusion-data-based single-photon single-pixel 3D imaging system, which comprises a supercontinuum laser source, an SNSNP, a TDC module, an optical lens system, a depth camera, a millimeter-wave radar, and a laptop; (b) experimental scene with a person; (c) schematic diagram of an optical lens system.

Fig. 5. Experiment results. (a)–(d) Imaging results of different people and objects; in each subfigure, the histogram, the ground-truth depth maps, and the retrieved images are shown from left to right. The reconstructed images with fusion data, only single-photon data, only millimeter-wave data are shown from top to bottom.