Abstract: In this NIAC report we present a new technique enabling a practical option for mapping these structures at a relatively low cost: Photon Time-of-Flight (PTOF) imaging. Consider a scene with a surface that is in a camera’s line of sight, with unknown geometry beyond the line of sight. PTOF works by directing laser pulses onto the visible surface and detecting the returned light after it reflects off the visible surface, onto the hidden surfaces, and back to the detector. An algorithm then reco…