Fig. 5: ERTI reconstructions of hidden scenes.

a Photographs show hidden rooms constructed from existing walls and foamcore panels. The rooms contain either two mannequins or a planar staircase or are empty. b Diagrams show the approximate layout of the hidden scene plus an observer at the position of the acquisition equipment. c Left & d right views of the reconstructed scenes, with the estimated ceiling height and known occluder edge shown partially transparent for context. Representative results are shown for different acquisition durations per illumination spot. Shorter acquisition times are sufficient for correctly localizing the foreground objects with height estimates within  ≈ 10 cm, whereas longer times allow for more accurate estimation of distant facet heights and orientations. See Supplementary Note 6 for the effects of varying the acquisition time on the reconstructions.