Fig. 1. Diagram of CGI system penetrating smoke media

Fig. 2. Schematic diagram of light intensity measurement value correction by PPC method

Fig. 3. Variation curves of attenuation coefficient and corresponding imaging results. (a) Variation curves of simulated attenuation coefficient for a=1,2,3,4; (b) imaging results of CGI and PPC methods for a=1,2,3,4

Fig. 4. Corresponding imaging results of algorithms under different noise levels. (a) R_MSE of each algorithm at different noise levels; (b) imaging results of algorithms for S_NR=60,70,80,90

Fig. 5. Light path of CGI for laser penetrating smoke

Fig. 6. Structure of smoke chamber

Fig. 7. Distributions of intensity measurements of targets under static smoke. (a) Target 1; (b) target 2

Fig. 8. Original image of target, and results of TI and CGI in static smoke environment. (a) Target 1; (b) target 2

Fig. 9. Intensity varying with time for laser penetrating smoke and unpenetrating smoke

Fig. 10. Imaging results in different sections. (a) Imaging results of CGI method; (b) imaging results of PPC method

Fig. 11. Imaging results of CGI and PPC at different projection frequency. (a) Results of CGI; (b) results of PPC

Fig. 12. Distributions of intensity values measured at 50 Hz and 10 Hz projection frequencies in dynamic smoke environment. (a)(d) Measured intensity value; (b)(e) intensity value corrected by PPC method; (c)(f) intensity value without correcting by PPC method