Bayesian estimation of distance and surface normal with a time-of-flight laser rangefinder

We describe a Bayesian estimation method for measurement of both range and surface orientation using a laser rangefinder. The method not only provides more accurate estimates of range for dark surfaces that are difficult to measure, but also simultaneously provides estimates of surface normals. The paper describes our efforts for a commercially available sensor, the laser rangefinder Acuity Accu-Range 3000 LIR, a widely available device. We detail the Bayesian techniques, sensor calibration, and the processing required