Disclosed is a method for
optical sensing, particularly in an
underwater environment. The method comprises projecting a
light beam (4) onto a scene (10) by means of a
projector (3). The scene (10) comprises a medium with an unknown distribution or density of obstacles (5', 5", 5'") and an object (6) to be distinguished. The
light beam (4) has a predetermined
diameter (16) larger than the obstacles (5', 5", 5'"). The obstacles (5', 5", 5'") are partially transparent and partially reflective to said
light beam (4). The method further comprises imaging the reflected light (7', 7", 7'"), by means of
optics, on sensing units (14) of an optical sensor (2), wherein each of said sensing units (14) preferably comprises a single
photon detector. The method further comprises determining locations of detection (8', 8",8'") of said obstacles (5', 5", 5'") in said scene (10) on said optical sensor (2) during a plurality of adjacent observation windows. The method further comprises constructing, based on said locations of detection (8', 8", 8'"), a
depth map of said obstacles (5', 5", 5'") in said scene (10) based on statistics per sensing unit over said plurality of adjacent observation windows. The method further comprises estimating, based on said detection statistics, a
reflectivity of at least part of said plurality of particles in a first volume of the scene (10). The method may comprise determining, based on said
depth map, the unknown distribution or density of said obstacles (5', 5", 5'") in said scene (10).