Fig. 1. (a) Schematic diagram of the STIL data collection process, (b) illustration of the work principle of the streak tube detector, and (c) the streak image at the phosphor screen, as captured by the CCD.

Fig. 2. Simulated dependence of range error on the time bin size. The simulation parameters are τlaser=1  ns, SNR=27.5, t¯=10  m, and N=1000.

Fig. 3. Schematic of the STIL system based on the 532 nm wavelength illumination and a streak tube camera detector.

Fig. 4. Depth data of the planar target using different time bin sizes.

Fig. 5. Dependence curves between the range error and time bin size obtained for the indoor experiments, analytical estimate, and simulation result.

Fig. 6. 3D-rendered depth images of a fist model from a stand-off distance of 10 m, using different time bin sizes. The close-up photographs in column (a) are different viewpoints of the target that was scanned. Plots of the depth data obtained for time bin sizes of 0.07, 0.18, 0.36, and 0.78 ns are shown in columns (b) to (e); each of these columns show three different viewpoints.