Coincidence processing Geiger-mode lidar using dynamic lattices

The key insight of this paper is that rigid lattices used in many coincidence processing algorithms for Geiger-mode lidar data, due to the varied scattering properties of materials in an imaged scene, necessarily lead to pathological density estimates in cases where too few detections fall into discretized data chimneys. This paper proposes the use of dynamic lattices to ensure detection counts are bounded. A specific example of binary space partitioning is presented where a minimum number of detections is specified.