TITLE Real-Time 3D reconstruction of complex scenes using single-photon lidar: when computational imaging meets computer graphics AUTHOR/ORCID/PRIMARY AFFILIATION Julián Tachella, 0000-0003-3878-9142 Heriot-Watt University, United Kingdom Yoann Altmann, null Heriot-Watt University, Institute of Sensors, Signals and Systems, Edinburgh, United Kingdom Nicolas Mellado, null Toulouse Institute of Computer Science Research, France Aongus McCarthy, 0000-0002-0124-0060 Heriot-Watt University, School of Engineering and Physical Sciences, Edinburgh, United Kingdom Rachael Tobin, null Heriot-Watt University, United Kingdom Gerald S. Buller, null Heriot-Watt University, Edinburgh, United Kingdom Jean-Yves Tourneret, null University of Toulouse, France Steve McLaughlin, 0000-0002-9558-8294 Heriot-Watt University, Engineering and Physical Sciences, Edinburgh, United Kingdom FUNDING DETAILS Yoann Altmann, Royal Academy of Engineering, Funder id 501100000287, RF201617/16/31 Yoann Altmann, University Defense Research Collaboration in Signal Processing (UDRC) Gerald S. Buller, RCUK | Engineering and Physical Sciences Research Council (EPSRC), Funder id 501100000266, EP/M01326X/1 Gerald S. Buller, RCUK | Engineering and Physical Sciences Research Council (EPSRC), Funder id 501100000266, EP/K015338/1 Gerald S. Buller, RCUK | Engineering and Physical Sciences Research Council (EPSRC), Funder id 501100000266, EP/N003446/1 Gerald S. Buller, University Defense Research Collaboration in Signal Processing (UDRC) Steve McLaughlin, RCUK | Engineering and Physical Sciences Research Council (EPSRC), Funder id 501100000266, EP/S000631/1 AUTHOR CONTRIBUTIONS