Polarimetric Imaging Techniques Research Articles

Polarimetric Imaging for Robot Perception: A Review.

In recent years, the integration of polarimetric imaging into robotic perception systems has increased significantly, driven by the accessibility of affordable polarimetric sensors. This technology complements traditional color imaging by capturing and analyzing the polarization characteristics of light. This additional information provides robots with valuable insights into object shape, material composition, and other properties, ultimately enabling more robust manipulation tasks. This review aims to provide a comprehensive analysis of the principles behind polarimetric imaging and its diverse applications within the field of robotic perception. By exploiting the polarization state of light, polarimetric imaging offers promising solutions to three key challenges in robot vision: Surface segmentation; depth estimation through polarization patterns; and 3D reconstruction using polarimetric data. This review emphasizes the practical value of polarimetric imaging in robotics by demonstrating its effectiveness in addressing real-world challenges. We then explore potential applications of this technology not only within the core robotics field but also in related areas. Through a comparative analysis, our goal is to elucidate the strengths and limitations of polarimetric imaging techniques. This analysis will contribute to a deeper understanding of its broad applicability across various domains within and beyond robotics.

Experimental Characterization of Polarized Light Backscattering in Fog Environments

This paper focuses on the experimental characterization of the polarization behavior of light backscattered through fog. A polarimetric orthogonal state contrast imager and an active, purely polarized white illuminator system are used to evaluate both linear and circular polarization signals. The experiments are carried out in a macro-scale fog chamber under controlled artificial fog conditions. We explore the effect of backscattering in each imaging channel, and the persistence of both polarization signals as a function of meteorological visibility. We confirm the presence of the polarization memory effect with circularly polarized light, and, as a consequence, the maintenance of helicity in backscattering. Moreover, the circular cross-polarized channel is found to be the imaging channel less affected by fog backscattering. These results are useful and should be taken into account when considering active polarimetric imaging techniques for outdoor applications under foggy conditions.

The high-albedo, low polarization disk around HD 114082 that harbors a Jupiter-sized transiting planet

Aims. We present new optical and near-infrared images of the debris disk around the F-type star HD 114082 in the Scorpius-Centaurus OB association. We obtained direct imaging observations and analyzed the TESS photometric time series data of this target with the goal of searching for planetary companions to HD 114082 and characterizing the morphology of the debris disk and the scattering properties of dust particles. Methods. HD 114082 was observed with the VLT/SPHERE instrument in different modes – the IRDIS camera in the K band (2.0–2.3 μm) together with the IFS in the Y, J, and H bands (0.95–1.66 μm) using the angular differential imaging technique as well as IRDIS in the H band (1.5–1.8 μm) and ZIMPOL in the I_PRIME band (0.71–0.87 μm) using the polarimetric differential imaging technique. To constrain the basic geometrical parameters of the disk and the scattering properties of dust grains, scattered light images were fitted with a 3D model for single scattering in an optically thin dust disk using a Markov chain Monte Carlo approach. We performed aperture photometry to derive the scattering and polarized phase functions, the polarization fraction, and the spectral scattering albedo for the dust particles in the disk. This method was also used to obtain the reflectance spectrum of the disk and, in turn, to retrieve the disk color and study the dust reflectivity in comparison to the debris disk HD 117214. We also performed the modeling of the HD 114082 light curve measured by TESS using models for planet transit and stellar activity to put constraints on the radius of the detected planet and its orbit. Last, we searched for additional planets in the system by combining archival radial velocity data, astrometry, and direct imaging. Results. The debris disk HD 114082 appears as an axisymmetric debris belt with a radius of ~0.37″ (35 au), an inclination of ~83°, and a wide inner cavity. Dust particles in HD 114082 have a maximum polarization fraction of ~17% and a higher reflectivity when compared to the debris disk HD 117214. This high reflectivity results in a spectral scattering albedo of ~0.65 for the HD 114082 disk at near-infrared wavelengths. The disk reflectance spectrum exhibits a red color at the position of the planetesimal belt and shows no obvious features, whereas that of HD 117214 might indicate the presence of CO2 ice. The analysis of TESS photometric data reveals a transiting planetary companion to HD 114082 with a radius of ~1 RJup on an orbit with a semimajor axis of 0.7 ± 0.4 au. No additional planet was detected in the system when we combined the SPHERE images with constraints from astrometry and radial velocity. We reach deep sensitivity limits down to ~5 MJup at 50 au and ~10 MJup at 30 au from the central star.

Polarimetric Imaging via Deep Learning: A Review

Polarization can provide information largely uncorrelated with the spectrum and intensity. Therefore, polarimetric imaging (PI) techniques have significant advantages in many fields, e.g., ocean observation, remote sensing (RS), biomedical diagnosis, and autonomous vehicles. Recently, with the increasing amount of data and the rapid development of physical models, deep learning (DL) and its related technique have become an irreplaceable solution for solving various tasks and breaking the limitations of traditional methods. PI and DL have been combined successfully to provide brand-new solutions to many practical applications. This review briefly introduces PI and DL’s most relevant concepts and models. It then shows how DL has been applied for PI tasks, including image restoration, object detection, image fusion, scene classification, and resolution improvement. The review covers the state-of-the-art works combining PI with DL algorithms and recommends some potential future research directions. We hope that the present work will be helpful for researchers in the fields of both optical imaging and RS, and that it will stimulate more ideas in this exciting research field.

Inspection of plant pathologies through pseudocolored images based on polarimetric basis

The study of the interaction of biological tissue with polarized light leads to relevant information of physical properties (dichroism, retardance and depolarization) of samples. Polarimetric analysis of different characteristics in tissues is useful for applications such us tissue classification, contrast enhancement or pathology detection. By means of polarimetric imaging techniques we can characterize the polarimetric signature of biological samples in a noninvasive and nondestructive way. We have found that depolarization information is of special interest in turbid media such as plant tissue. In this manuscript we use polarimetric observables for plant inspection. In particular, we provide enhanced visualization of certain plant pathologies by constructing depolarization based pseudocolored images of pathological leaves where the pathological areas are revealed.

Polarimetric Imaging Through Scattering Media: A Review

Imaging in scattering media has been a challenging and important subject in optical science. In scattering media, the image quality is often severely degraded by the scattering and absorption effects owing to the small particles and the resulting nonuniform distribution of the intensity or polarization properties. This study reviews the recent development in polarimetric imaging techniques that address these challenges. Specifically, based on the polarization properties of the backscattering light, polarimetric methods can estimate the intensity level of the backscattering and the transmittance of the media. They can also separate the target signal from the undesired ones to achieve high-quality imaging. In addition, the different designs of the polarimetric imaging systems offer additional metrics, for example, the degree/angle of polarization, to recover images with high fidelity. We first introduce the physical degradation models in scattering media. Secondly, we apply the models in different polarimetric imaging systems, such as polarization difference, Stokes vector, Mueller matrix, and deep learning-based systems. Lastly, we provide a model selection guideline and future research directions in polarimetric imaging.

Mueller Matrix Polarimetric Imaging Analysis of Optical Components for the Generation of Cylindrical Vector Beams

In this work, we performed a Mueller matrix imaging analysis of two commercial optical components usually employed to generate and manipulate vector beams—a radial polarizer and a liquid-crystal q-plate. These two elements generate vector beams by different polarization mechanisms—polarizance and retardance, respectively. The quality of the vector beams relies on the quality of the device that generates them. Therefore, it is of interest to apply the well-established polarimetric imaging techniques to evaluate these optical components by identifying their spatial homogeneity in diattenuation, polarizance, depolarization, and retardance, as well as the spatial variation of the angles of polarizance and retardance vectors. For this purpose, we applied a customized imaging Mueller matrix polarimeter based on liquid-crystal retarders and a polarization camera. Experimental results were compared to the numerical simulations, considering the theoretical Mueller matrix. This kind of polarimetric characterization could be very helpful to the manufacturers and users of these devices.

HD 117214 debris disk: scattered-light images and constraints on the presence of planets

Context. Young stars with debris disks are the most promising targets for an exoplanet search because debris indicate a successful formation of planetary bodies. Debris disks can be shaped by planets into ring structures that give valuable indications on the presence and location of planets in the disk. Aims. We performed observations of the Sco-Cen F star HD 117214 to search for planetary companions and to characterize the debris disk structure. Methods. HD 117214 was observed with the SPHERE subsystems IRDIS, IFS, and ZIMPOL at optical and near-IR wavelengths using angular and polarimetric differential imaging techniques. This provided the first images of scattered light from the debris disk with the highest spatial resolution of 25 mas and an inner working angle <0.1″. With the observations with IRDIS and IFS we derived detection limits for substellar companions. The geometrical parameters of the detected disk were constrained by fitting 3D models for the scattering of an optically thin dust disk. Investigating the possible origin of the disk gap, we introduced putative planets therein and modeled the planet–disk and planet–planet dynamical interactions. The obtained planetary architectures were compared with the detection limit curves. Results. The debris disk has an axisymmetric ring structure with a radius of 0.42(±0.01)″ or ~45 au and an inclination of 71(±2.5)° and exhibits a 0.4″ (~40 au) wide inner cavity. From the polarimetric data, we derive a polarized flux contrast for the disk of (Fpol)disk/F∗ = (3.1 ± 1.2) × 10−4 in the RI band. Conclusions. The fractional scattered polarized flux of the disk is eight times lower than the fractional IR flux excess. This ratio is similar to the one obtained for the debris disk HIP 79977, indicating that dust radiation properties are similar for these two disks. Inside the disk cavity we achieve high-sensitivity limits on planetary companions with a mass down to ~4 MJ at projected radial separations between 0.2″ and 0.4″. We can exclude stellar companions at a radial separation larger than 75 mas from the star.

Reconfigurable snapshot polarimetric imaging technique through spectral-polarization filtering.

In this Letter, we propose a simple, low-cost, reconfigurable snapshot polarimetric imaging technique for a color camera to measure polarization properties with spectral-polarization filters. Experimental results demonstrate the unique capabilities, such as obtaining circular or elliptical polarized information in a snapshot, that are not available from commercial polarization cameras and other polarization imaging techniques.

Estimating surface orientation from microfacet Mueller matrix bidirectional reflectance distribution function models in outdoor passive imaging polarimetry

Representative examples from 3 years of measurements from JPL’s ground-based multiangle spectropolarimetric imager (GroundMSPI) are compared to a Mueller matrix bidirectional reflectance distribution function (mmBRDF). This mmBRDF is used to model polarized light scattering from solar illuminated surfaces. The camera uses a photoelastic-modulator-based polarimetric imaging technique to measure linear Stokes parameters in three wavebands (470, 660, and 865 nm) with a ±0.005 uncertainty in degree of linear polarization. GroundMSPI measurements are made over a range of scattering angles determined from a fixed viewing geometry and varying sun positions over time. This microfacet mmBRDF model predicts an angle of the linear polarization that is consistently perpendicular to the scattering plane and therefore is only appropriate for rough surface types. The model is comprised of a volumetric reflection term plus a specular reflection term of Fresnel-reflecting microfacets. The following modifications to this mmBRDF model are evaluated: an apodizing shadowing function, a Breon or Gaussian microfacet scattering density function, and treating the surface orientation as an additional model parameter in the specular reflection term. The root-mean-square error (RMSE) between the GroundMSPI measurements and these various forms of the microfacet mmBRDF model is reported. Four example scenes for which a shadowed-Breon microfacet mmBRDF model yields realistic estimates of surface orientation, and the lowest RMSE among other model options are shown.

Characterization of a polarimetric infrared imager based on the orthogonality breaking technique

We report an in-depth experimental characterization and analysis of an infrared active polarimetric imaging system based on the orthogonality breaking polarization-sensing approach. We first recall the principle of this laser scanning polarimetric imaging technique, based on the illumination of a scene by means of a dual-frequency dual-polarization light source. The experimental design is then described, along with measurements on test scenes with known polarimetric properties used to validate/calibrate the imaging system and to characterize its optical properties (sensitivity and resolution). The noise sources that temporally and spatially affect the quality of the orthogonality breaking data are then investigated. Our results show that the raw temporal signals detected at a given location of the scene are perturbed by Gaussian fluctuations, and the spatial information contained in the images acquired through raster scan of the scene are dominated by speckle noise, which is a common characteristic of active polarimetric imaging systems. Finally, the influence of the source temporal coherence on the images is analyzed experimentally, showing that orthogonality breaking acquisitions can still be performed efficiently with a low-coherence source.

Classification between digs and dust particles on optical surfaces with acquisition and analysis of polarization characteristics.

In the automatic detection for surface defects of optical components, the digs and dust particles exhibit similar features: point-like shape and variable intensity reflectivity. On this condition, these two types with entirely different damages are easily confused so that misjudgments will be induced. To solve this problem, a polarization-characteristics-based classification method of digs and dust particles (PCCDD) is proposed based on the polarimetric imaging technique and dark-field imaging technique. First, a dark-field imaging system equipped with a polarization state generator (PSG) and a polarization state analyzer (PSA) is employed to measure and establish normalized Mueller matrices' datasets of digs and dust particles. And by a nonlinear global search combined with a separability evaluation method, the optimal number of acquisitions and corresponding polarization measurement states of the PSG and the PSA are obtained, as well as the parameters of classification function. Then, multiple polarization images are acquired under the optimal states to extract a multidimensional feature description that relates only to the polarization characteristics of the defect; this subsequently acts as the input vector of the classifier to finally achieve the classification. This method takes full advantage of both the difference in polarization properties between digs and dust particles and the characteristic that the polarization properties of digs are relatively invariant while those of dust particles have a large variability. The classification process involves only simple matrix operations. Compared to the traditional discrimination method based on intensity images, the features obtained by this method have a higher separability. Experiments show that the classification accuracy reaches over 90%. This method can be further applied to the recognition and discrimination of other defects in the field of surface defects' detection.

Method for Mueller matrix acquisition based on a division-of-aperture simultaneous polarimetric imaging technique

The Mueller matrix is an important parameter in the field of polarization optics, and how to measure it efficiently and accurately becomes considerably significant for its practical applications. In this paper, for the first time to our knowledge, we propose a new method for Mueller matrix acquisition based on a division-of-aperture simultaneous polarimetric imaging technique. Different from the traditional method where, for obtaining the 16 elements of the Mueller matrix, a 16-times-measurement must be conducted by jointly changing the states of polarization (SOPs) of the input and output lights, while in our method it is enough by just changing the SOPs of the input light 4 times. This time-saving and easy-calculating feature is owing to our specific polarimetric camera, where a full-Stokes vector is obtained easily since 3 linear SOPs (0°, 45°, 90°) and 1 circular SOP can be recorded simultaneously by spatially sharing the same detector. To simply verify the effectiveness of our method, a specific polarization device patched by 8 sub-polarizers is chosen as the sample to be measured. Experimental results show that they are consistent with the theoretical results, both in the Mueller matrix and the corresponding images. We predict that this method for Mueller matrix acquisition can get wide potential applications for rapid identifications in biomedicine and material science.

Aircraft skin defect localization using imaging polarimetry

Aircraft coatings are critical for protecting the substrate material from corrosion, and in some cases, serve to reduce the aircraft’s RADAR cross section. A coating system is generally formed from three layers: a topcoat, primer, and substrate. Exposed substrate or primer, from defects in the topcoat, poses an operational hazard to the aircraft and can shorten a component’s lifetime. Conventional computer vision techniques require intensive image processing algorithms to detect such defects across a wide range of observation angles, variations in incident illumination, and nondefect markings. We introduce a polarimetric imaging technique that can classify topcoat defects that penetrate to the primer or substrate versus superficial surface markings. Results demonstrate that circular and linear polarization can discriminate metallic and carbon fiber substrates from the dielectric paint and low observable topcoats. To this end, we demonstrate that the technique of using polarimetric imaging may be viable for in-situ robotic inspection of aircraft topcoats. This is followed by our experimental results, which demonstrate material identification on the single-pixel level.

Observations of fast-moving features in the debris disk of AU Mic on a three-year timescale: Confirmation and new discoveries

Context. The nearby and young M star AU Mic is surrounded by a debris disk in which we previously identified a series of large-scale arch-like structures that have never been seen before in any other debris disk and that move outward at high velocities. Aims. We initiated a monitoring program with the following objectives: (1) track the location of the structures and better constrain their projected speeds, (2) search for new features emerging closer in, and ultimately (3) understand the mechanism responsible for the motion and production of the disk features. Methods. AU Mic was observed at 11 different epochs between August 2014 and October 2017 with the IR camera and spectrograph of SPHERE. These high-contrast imaging data were processed with a variety of angular, spectral, and polarimetric differential imaging techniques to reveal the faintest structures in the disk. We measured the projected separations of the features in a systematic way for all epochs. We also applied the very same measurements to older observations from the Hubble Space Telescope (HST) with the visible cameras STIS and ACS. Results. The main outcomes of this work are (1) the recovery of the five southeastern broad arch-like structures we identified in our first study, and confirmation of their fast motion (projected speed in the range 4–12 km s−1); (2) the confirmation that the very first structures observed in 2004 with ACS are indeed connected to those observed later with STIS and now SPHERE; (3) the discovery of two new very compact structures at the northwest side of the disk (at 0.40′′ and 0.55′′ in May 2015) that move to the southeast at low speed; and (4) the identification of a new arch-like structure that might be emerging at the southeast side at about 0.4′′ from the star (as of May 2016). Conclusions. Although the exquisite sensitivity of SPHERE allows one to follow the evolution not only of the projected separation, but also of the specific morphology of each individual feature, it remains difficult to distinguish between possible dynamical scenarios that may explain the observations. Understanding the exact origin of these features, the way they are generated, and their evolution over time is certainly a significant challenge in the context of planetary system formation around M stars.

Computational polarimetric microwave imaging

We propose a polarimetric microwave imaging technique that exploits recent advances in computational imaging. We utilize a frequency-diverse cavity-backed metasurface, allowing us to demonstrate high-resolution polarimetric imaging using a single transceiver and frequency sweep over the operational microwave bandwidth. The frequency-diverse metasurface imager greatly simplifies the system architecture compared with active arrays and other conventional microwave imaging approaches. We further develop the theoretical framework for computational polarimetric imaging and validate the approach experimentally using a multi-modal leaky cavity. The scalar approximation for the interaction between the radiated waves and the target- often applied in microwave computational imaging schemes-is thus extended to retrieve the susceptibility tensors, and hence provides additional information about the targets. Computational polarimetry has relevance for existing systems in the field that extract polarimetric imagery, and particular for ground observation. A growing number of short-range microwave imaging applications can also notably benefit from computational polarimetry, particularly for imaging objects that are difficult to reconstruct when assuming scalar estimations.

Fast polarimetric dehazing method for visibility enhancement in HSI colour space

Image haze removal has attracted much attention in optics and computer vision fields in recent years due to its wide applications. In particular, the fast and real-time dehazing methods are of significance. In this paper, we propose a fast dehazing method in hue, saturation and intensity colour space based on the polarimetric imaging technique. We implement the polarimetric dehazing method in the intensity channel, and the colour distortion of the image is corrected using the white patch retinex method. This method not only reserves the detailed information restoration capacity, but also improves the efficiency of the polarimetric dehazing method. Comparison studies with state of the art methods demonstrate that the proposed method obtains equal or better quality results and moreover the implementation is much faster. The proposed method is promising in real-time image haze removal and video haze removal applications.

Polarimetric Parameters to Categorize Normal and Malignant Thyroid Tissue

ABSTRACTThyroid tissue samples, pathologically characterized as normal and malignant type, containing both the epithelial and stromal regions are prepared on two different glass slides. Polarized light scattering from these individual slides is used to record the intensity images by Polarimetric Imaging technique. These images are processed further to obtain Mueller intensity images respectively for normal and malignant tissue types. Polar decomposition of these Mueller intensity images results in obtaining Depolarization, Diattenuation, and Retardance images; their potentiality to understand the structural and morphological changes in the samples is reported for comparison.

Polarimetric Image Discrimination With Depolarization Mueller Matrix

Polarimetric imaging techniques exploit the polarization characteristics of objects and, thus, can achieve a better discriminative performance. In this paper, an adaptive discrimination method based on the classification of depolarization Mueller matrix is proposed. According to the Mueller–Jones theory, the general formula of Mueller matrix for depolarization optical system is analyzed. In addition, a two-channel imaging platform is constructed to obtain a polarization-difference image with certain states of polarization. Under this methodology, every pixel of the image can be expanded as a combination of independent entries of the Mueller matrix, with polarization states as the representative coefficients. Thus, the optimal polarization states can be obtained via support vector machine (SVM), and a high contrast image is achieved. Finally, experiments on two groups of different materials are conducted to demonstrate the applicability and performance of the proposed method. The related criteria (e.g., Fisher ratio) are introduced to quantitatively evaluate the results. Experimental results indicate that the proposed method shows advantages for image discriminations.

A robust haze-removal scheme in polarimetric dehazing imaging based on automatic identification of sky region

Quality enhancement of images acquired in hazy conditions is a significant research area in civil and military applications. The polarimetric dehazing methods have been exploited to dehaze hazy images and have proven to be effective in enhancing their quality. In this paper, by combining the polarimetric imaging technique and the dark channel prior technique, a robust haze-removal scheme is presented for the first time. On the one hand, the polarimetric imaging technique has advantages in recovering detailed information well, especially in dense hazy conditions; on the other hand, the dark channel prior technique provides a much more precise and convenient way to estimate the airlight radiance through extracting the sky region automatically. The experiments verify the practicability and effectiveness of the proposed dehazing scheme in quality enhancement of hazy images. Furthermore, comparison study demonstrates that the proposed scheme is superior to some sophisticated methods in terms of the visibility and contrast. We believe this scheme is beneficial in the image dehazing applications, especially for real-time applications.