Figure 1

(a) Schematic sketch of the imaging set-up for the LIDAR experiment: The scene is uniformly illuminated by pulsed laser from the same direction as the camera setup. Light is collected and then imaged onto both the high-resolution CCD array and the low-resolution SPAD array by the same objective lens. The SPAD sensor is placed slightly out of the focal plane to ensure the temporal information from each point within the scene spreads across multiple pixels. (b) Effect of the optical blur: With the low fill-factor sensor in focus such that the imaging system’s point-spread-function PSF (coloured circles) is smaller than the pixel pitch, regions of the scene are not collected by the pixels (grey areas). Shifting the sensor out of the focal plane blurs the PSF and ensures collection of the temporal information from each point in the scene.