Passive Polarized Vision for Autonomous Vehicles: A Review.

This review article aims to address common research questions in passive polarized vision for robotics. What kind of polarization sensing can we embed into robots? Can we find our geolocation and true north heading by detecting light scattering from the sky as animals do? How should polarization images be related to the physical properties of reflecting surfaces in the context of scene understanding? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying future directions in passive polarized vision for robotics. After an introduction, three key interconnected areas will be covered in the following sections: embedded polarization imaging; polarized vision for robotics navigation; and polarized vision for scene understanding. We will then discuss how polarized vision, a type of vision commonly used in the animal kingdom, should be implemented in robotics; this type of vision has not yet been exploited in robotics service. Passive polarized vision could be a supplemental perceptive modality of localization techniques to complement and reinforce more conventional ones.

Survey of Demosaicking Methods for Polarization Filter Array Images.

Snapshot polarization imaging has gained interest in the last few decades. Recent research and technology achievements defined the polarization Filter Array (PFA). It is dedicated to division-of-focal plane polarimeters, which permits to analyze the direction of light electric field oscillation. Its filters form a mosaicked pattern, in which each pixel only senses a fraction of the total polarization states, so the other missing polarization states have to be interpolated. As for Color or Spectral Filter Arrays (CFA or SFA), several dedicated demosaicking methods exist in the PFA literature. Such methods are mainly based on spatial correlation disregarding inter-channel correlation. We show that polarization channels are strongly correlated in images. We therefore propose to extend some demosaicking methods from CFA/SFA to PFA, and compare them with those that are PFA-oriented. Objective and subjective analysis show that the pseudo panchromatic image difference method provides the best results and can be used as benchmark for PFA demosaicking.

Relationship between reflectance and degree of polarization in the VNIR-SWIR: A case study on art paintings with polarimetric reflectance imaging spectroscopy.

We study the relationship between reflectance and the degree of linear polarization of radiation that bounces off the surface of an unvarnished oil painting. We design a VNIR-SWIR (400 nm to 2500 nm) polarimetric reflectance imaging spectroscopy setup that deploys unpolarized light and allows us to estimate the Stokes vector at the pixel level. We observe a strong negative correlation between the S0 component of the Stokes vector (which can be used to represent the reflectance) and the degree of linear polarization in the visible interval (average -0.81), while the correlation is weaker and varying in the infrared range (average -0.50 in the NIR range between 780 and 1500 nm, and average -0.87 in the SWIR range between 1500 and 2500 nm). By tackling the problem with multi-resolution image analysis, we observe a dependence of the correlation on the local complexity of the surface. Indeed, we observe a general trend that strengthens the negative correlation for the effect of artificial flattening provoked by low image resolutions.

Imaging linear polarimetry using a single ferroelectric liquid crystal modulator.

In the field of polarimetry, ferroelectric liquid crystal cells are mostly used as bistable polarization rotators suitable to analyze crossed polarizations. This paper shows that, provided such a cell is used at its nominal wavelength and correctly driven, its behavior is close to that of a tunable half-wave plate, and it can be used with much benefit in lightweight imaging polarimetric setups. A partial Stokes polarimeter using a single digital video camera and a single ferroelectric liquid crystal modulator is designed and implemented for linear polarization analysis. Polarization azimuthal angle and degree of linear polarization are available at 150 frames per second with a good accuracy.

Active contour segmentation by use of a multichannel incoherent optical correlator.

We describe an optoelectronic incoherent multichannel processor that is able to segment an object in a real image. The process is based on an active contour algorithm that has been transposed to optical signal processing to accelerate image processing. This implementation requires exact-valued correlations and thus opens attractive perspectives in terms of optical analog computation. Furthermore, this optical multichannel processor setup encourages incoherent processing with high-resolution images.

Target detection with a liquid-crystal-based passive Stokes polarimeter.

We present an imaging system that measures the polarimetric state of the light coming from each point of a scene. This system, which determines the four components of the Stokes vector at each spatial location, is based on a liquid-crystal polarization modulator, which makes it possible to acquire four-dimensional Stokes parameter images at a standard video rate. We show that using such polarimetric images instead of simple intensity images can improve target detection and segmentation performance.