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Single-Photon Avalanche Detector (SPAD) arrays are a rapidly emergingtechnology. These multi-pixel sensors have single-photon sensitivities andpico-second temporal resolutions thus they can rapidly generate depth imageswith millimeter precision. Such sensors are a key enabling technology forfuture autonomous systems as they provide guidance and situational awareness.However, to fully exploit the capabilities of SPAD array sensors, it is crucialto establish the quality of depth images they are able to generate in a widerange of scenarios. Given a particular optical system and a finite imageacquisition time, what is the best-case depth resolution and what are realisticimages generated by SPAD arrays? In this work, we establish a robust yet simplenumerical procedure that rapidly establishes the fundamental limits to depthimaging with SPAD arrays under real world conditions. Our approach accuratelygenerates realistic depth images in a wide range of scenarios, allowing theperformance of an optical depth imaging system to be established without theneed for costly and laborious field testing. This procedure has applications inobject detection and tracking for autonomous systems and could be easilyextended to systems for underwater imaging or for imaging around corners.

Simulating single-photon detector array sensors for depth imaging