Machine Learning-Based Human Detection Using Active Non-Line-of-Sight Laser Sensing

Active non-line-of-sight (NLOS) human detection aims to infer the presence of hidden individuals by analyzing indirectly reflected photons between a relay surface and occluded targets. In this study, a single-photon avalanche diode (SPAD) and time-correlated single-photon counting (TCSPC)-based acquisition system were used to measure time–photon waveforms in controlled NLOS environments designed to represent post-disaster rubble scenarios. Although the effective temporal resolution of the system is limited by the detector timing jitter and laser pulse width, the recorded transient signals retain distinguishable intensity and temporal delay patterns associated with the primary and secondary reflections. To construct a representative dataset, measurements were collected under varying subject poses, orientations, and surrounding object configurations. The recorded signals were processed using a unified preprocessing pipeline that included normalization, histogram shaping, and signal windowing. Three machine learning models, namely, Convolutional Neural Network, Gated Recurrent Unit, and Random Forest, were trained and evaluated for human presence classification. All models achieved full sensitivity in detecting human presence; however, notable differences emerged in the classification of human-absent scenarios. Among the tested approaches, random forest achieved the highest overall accuracy and specificity, demonstrating stronger robustness to statistical variations in time–photon histograms under limited photon conditions. These results suggest that tree-based classifiers capture amplitude distribution patterns and temporal dispersion characteristics more effectively than deep neural architectures under the present acquisition constraints. Overall, the findings indicate that low-cost SPAD-based NLOS sensing systems can provide reliable human detection in indirect-observation scenarios.