Nope, you have to turn the screen on. Only 'unlock' that can be performed without having to turn the screen on first is Fingerprint.
You should, however, still have the option to have it begin scanning as soon as the screen is turned on (unless, for some reason, they decide to remove the option as it is now in the S8/Note8 line), so it shouldn't be that much of a delay between turning the screen on and unlocking the phone if the lighting conditions are OK.