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We provide methods which recover planar scene geometry by utilizing thetransient histograms captured by a class of close-range time-of-flight (ToF)distance sensor. A transient histogram is a one dimensional temporal waveformwhich encodes the arrival time of photons incident on the ToF sensor.Typically, a sensor processes the transient histogram using a proprietaryalgorithm to produce distance estimates, which are commonly used in severalrobotics applications. Our methods utilize the transient histogram directly toenable recovery of planar geometry more accurately than is possible using onlyproprietary distance estimates, and consistent recovery of the albedo of theplanar surface, which is not possible with proprietary distance estimatesalone. This is accomplished via a differentiable rendering pipeline, whichsimulates the transient imaging process, allowing direct optimization of scenegeometry to match observations. To validate our methods, we capture 3,800measurements of eight planar surfaces from a wide range of viewpoints, and showthat our method outperforms the proprietary-distance-estimate baseline by anorder of magnitude in most scenarios. We demonstrate a simple roboticsapplication which uses our method to sense the distance to and slope of aplanar surface from a sensor mounted on the end effector of a robot arm.

Unlocking the Performance of Proximity Sensors by Utilizing Transient Histograms