Olivier Morel

Joaquin Rodriguez, Lew Lew-Yan-Voon, Renato Martins et al.

Polarimetric imaging has been applied in a growing number of applications in robotic vision (ex. underwater navigation, glare removal, de-hazing, object classification, and depth estimation). One can find on the market RGB Polarization cameras that can capture both color and polarimetric state of the light in a single snapshot. Due to the sensor's characteristic dispersion, and the use of lenses, it is crucial to calibrate these types of cameras so as to obtain correct polarization measurements. The calibration methods that have been developed so far are either not adapted to this type of cameras, or they require complex equipment and time consuming experiments in strict setups. In this paper, we propose a new method to overcome the need for complex optical systems to efficiently calibrate these cameras. We show that the proposed calibration method has several advantages such as that any user can easily calibrate the camera using a uniform, linearly polarized light source without any a priori knowledge of its polarization state, and with a limited number of acquisitions. We will make our calibration code publicly available.

Joaquin Rodriguez, Lew-Fock-Chong Lew-Yan-Voon, Renato Martins et al.

Polarization information of the light can provide rich cues for computer vision and scene understanding tasks, such as the type of material, pose, and shape of the objects. With the advent of new and cheap polarimetric sensors, this imaging modality is becoming accessible to a wider public for solving problems such as pose estimation, 3D reconstruction, underwater navigation, and depth estimation. However, we observe several limitations regarding the usage of this sensorial modality, as well as a lack of standards and publicly available tools to analyze polarization images. Furthermore, although polarization camera manufacturers usually provide acquisition tools to interface with their cameras, they rarely include processing algorithms that make use of the polarization information. In this paper, we review recent advances in applications that involve polarization imaging, including a comprehensive survey of recent advances on polarization for vision and robotics perception tasks. We also introduce a complete software toolkit that provides common standards to communicate with and process information from most of the existing micro-grid polarization cameras on the market. The toolkit also implements several image processing algorithms for this modality, and it is publicly available on GitHub: https://github.com/vibot-lab/Pola4all_JEI_2023.