Attitude compensation and reconstruction methods for single-photon dynamic imaging during UAV flight

To mitigate shot noise and background interference in single-photon depth imaging, alongside single-axis image deviation induced by UAV attitude fluctuations during flight, this paper proposes a robust depth reconstruction method. Building upon the SPIRAL-TAP framework, the proposed approach integrates multi-scale image features with an adaptive thresholding strategy. Firstly, an image weighting matrix is constructed via multi-scale gradients and local variance to effectively characterize texture complexity. Subsequently, a dynamic threshold adjustment mechanism, guided by Rough Order Map (ROM) estimation, is implemented to enhance noise robustness. In the screening phase, an adaptive strategy merges scale-space smoothing with weighting matrix soft-tuning to stabilize the filtering process. Experimental results demonstrate that the proposed method significantly outperforms the conventional SPIRAL-TAP algorithm under varying signal-to-background ratios (SBR) and photon intensities. Specifically, at tilt angles of 10° and 15°, the RMSE is reduced from 0.32 to 0.14 and from 0.43 to 0.21, respectively. This method provides an effective solution for UAV-borne single-photon depth reconstruction and exhibits significant potential for high-speed airborne imaging systems.