Event-based Scheimpflug LiDAR for Ultra-Fast Laser-Scanned Rangefinding

Frame-based ranging systems are constrained by frame rate and provide no intrinsic mechanism for background rejection, limiting utility in high-throughput or cluttered environments. We present eSCHORTY, a Scheimpflug LiDAR integrating an event-based sensor with a modulated continuous-wave line laser to enable dense 3D point clouds, generated from over one million megaevents per second. We demonstrate that laser modulation provides a trade-off between event-space feature detection and localization, and that logarithmic event encoding suppresses the reflectance-induced centroid artifact demonstrated in intensity-based ranging. Reconstructions of natural scenes confirm spatially coherent depth recovery, with the Scheimpflug geometry supporting adaptation from millimeter- to kilometer-scale applications.