Models for polarimetric LIDAR imaging for vision through underwater turbid media
LIDAR imaging systems offer one of the highest resolution for three dimensional point cloud images; however, its use is constrained by multiple limitations. A significant limitation is the requirement for uniform transmission media. In turbid media, distance cannot be accurately measured, and backsc...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2025 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/452381 |
| Acceso en línea: | https://hdl.handle.net/2117/452381 |
| Access Level: | acceso abierto |
| Palabra clave: | Three-dimensional imaging Monte Carlo method Light--Scattering LIDAR Monte Carlo Underwater turbid media Polarimetry Imatgeria tridimensional Montecarlo, Mètode de Llum--Dispersió Àrees temàtiques de la UPC::Ciències de la visió::Òptica física::Llum |
| Sumario: | LIDAR imaging systems offer one of the highest resolution for three dimensional point cloud images; however, its use is constrained by multiple limitations. A significant limitation is the requirement for uniform transmission media. In turbid media, distance cannot be accurately measured, and backscattering noise from suspended particles can lead to false positives. The study of turbid media has usually been concentrated on fog, due to its relevance for autonomous terrestrial vehicles. Such studies typically use Monte Carlo simulations with spherical particle models. In contrast, particles in underwater media need to be modeled using spheroids because of their irregular shape, which increases computational demands. In this thesis, a Monte Carlo simulation originally developed for light scattering in fog has been adapted to adapt to the experimental conditions used, while proposing a simplified underwater turbid media model. The simplified model consists of a combination of spherical and infinitely long cylinder particles in varying proportions and radii to obtain the Mueller matrix of the media. This matrix can be evaluated on axis for multiple wavelengths or as an image for a single wavelength. The model is used to determine the effective radius for poly-disperse spherical particles with on-axis measurements validation using an Exicor I50 XT polarimeter. Finally, an analysis of the effects of different particle geometries on the photon trajectory and polarization states is performed. |
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