  Non-line-of-sight (NLOS) imaging is a rapidly growing field seeking to form
images of objects outside the field of view, with potential applications in
search and rescue, reconnaissance, and even medical imaging. The critical
challenge of NLOS imaging is that diffuse reflections scatter light in all
directions, resulting in weak signals and a loss of directional information. To
address this problem, we propose a method for seeing around corners that
derives angular resolution from vertical edges and longitudinal resolution from
the temporal response to a pulsed light source. We introduce an acquisition
strategy, scene response model, and reconstruction algorithm that enable the
formation of 2.5-dimensional representations -- a plan view plus heights -- and
a 180$^{\circ}$ field of view (FOV) for large-scale scenes. Our experiments
demonstrate accurate reconstructions of hidden rooms up to 3 meters in each
dimension.
