Improved method for calibrating a Stokes polarimeter

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.

Systematic errors in a swept-wavelength null polarimeter for weak linear retardance measurements

We recently developed a high speed null polarimeter [Opt. Express30, 18889 (2022)OPEXFF1094-408710.1364/OE.454193] based on passive polarization optics and a high speed wavelength swept laser source, enabling the measurement of linear retardance with 3.1µd e g/H z resolution within a minimum acquisition time of 10 µs, corresponding to a linear retardation of 8.6×10-9 λ/H z. The counterpart of high sensitivity lies in the systematic errors unlike Mueller polarimeters, which can be calibrated but which are much less sensitive. This paper focuses on the accuracy of this null polarimeter and provides hardware and numerical solutions to improve both linear retardance and azimuth measurements. Experiments and theoretical simulations are carried out to demonstrate the relevancy of these solutions.

Polarization calibration assessment for a broadband imaging polarimeter based on a division of aperture architecture

This article intends to provide all the experimental insights and analyze the best polarimetric calibration method for a division of aperture polarimetric imager considering the different implications it has on the experimental set-up and its performance. Polarimetric cameras require careful calibration for the correct measurement of polarization information. The calibration methods are introduced, intermediate results are presented, and the ability of the set-up to estimate Stokes vectors and Mueller matrices of the samples in passive and active imaging modes is evaluated. Polarization information recovery achieves accuracy errors below the 10% for all polarization modes when the Data Reduction Matrix or the Eigenvalue Calibration Method are used. Such performance, however, degrades significantly when using the Polarizer Calibration Method. To the best of our knowledge, this is the first time such a detailed comparison of calibration methods is presented in the literature, and it is also the first time the Polarizer Calibration Method is applied to a division of aperture polarimeter.

Robotized polarization characterization platform for free-space quantum communication optics

We develop a polarization characterization platform for optical devices in free-space quantum communications. We demonstrate an imaging polarimeter, which analyzes both incident polarization states and the angle of incidence, attached to a six-axis collaborative robot arm, enabling polarization characterization at any position and direction with consistent precision. We present a detailed description of each subsystem, including the calibration and polarization-test procedure, and analyze polarization measurement errors caused by imperfect orientations of the robot arm using a Mueller-matrix model of polarimeters at tilt incidence. We perform a proof-of-principle experiment for an angle-dependent polarization test for a commercial silver-coated mirror for which the polarization states of the reflected light can be accurately calculated. Quantitative agreement between the theory and experiment validates our methodology. We demonstrate the polarization test for a 20.3 cm lens designed for a quantum optical transmitter in Canada's Quantum Encryption and Science Satellite mission.

Use of Mueller matrix colposcopy in the characterization of cervical collagen anisotropy

Annually, about 15 million preterm infants are born in the world. Of these, due to complications resulting from their premature birth, about 1 million would die before the age of five. Since the high incidence of preterm birth (PTB) is partially due to the lack of effective diagnostic modalities, methodologies are needed to determine risk of PTB. We propose a noninvasive tool based on polarized light imaging aimed at measuring the organization of collagen in the cervix. Cervical collagen has been shown to remodel with the approach of parturition. We used a full-field Mueller matrix polarimetric colposcope to assess and compare cervical collagen content and structure in nonpregnant and pregnant women in vivo. Local collagen directional azimuth was used and a total of eight cervices were imaged.

Use of Mueller matrix polarimetry and optical coherence tomography in the characterization of cervical collagen anisotropy

Preterm birth (PTB) presents a serious medical health concern throughout the world. There is a high incidence of PTB in both developed and developing countries ranging from 11% to 15%, respectively. Recent research has shown that cervical collagen orientation and distribution changes during pregnancy may be useful in predicting PTB. Polarization imaging is an effective means to measure optical anisotropy in birefringent materials, such as the cervix's extracellular matrix. Noninvasive, full-field Mueller matrix polarimetry (MMP) imaging methodologies, and optical coherence tomography (OCT) imaging were used to assess cervical collagen content and structure in nonpregnant porcine cervices. We demonstrate that the highly ordered structure of the nonpregnant porcine cervix can be observed with MMP. Furthermore, when utilized ex vivo, OCT and MMP yield very similar results with a mean error of 3.46% between the two modalities.

Polarization resolved second harmonic microscopy

Second harmonic (SH) microscopy has proven to be a powerful imaging modality over the past years due to its intrinsic advantages as a multiphoton process with endogenous contrast specificity, which allows pinhole-less optical sectioning, non-invasive observation, deep tissue penetration, and the possibility of easier signal detection at visible wavelengths. Depending on the relative orientation between the polarization of the incoming light and the second-order susceptibility of non-centrosymmetric structures, SH microscopy provides the unique capacity to probe the absolute molecular structure of a broad variety of biological tissues without the necessity for additional labeling. In addition, SH microscopy, when working with polarimetry, provides clear and in-depth insights on the details of molecular orientation and structural symmetry. In this review, the working principles of the polarization resolving techniques and the corresponding implements of SH microscopy are elucidated, with focus on Stokes vector based polarimetry. An overview of the advancements on SH anisotropy measurements are also presented. Specifically, the recent progresses on the following three topics in polarization resolved SH microscopy will be elucidated, which include Stokes vector resolving for imaging molecular structure and orientation, 3-D structural chirality by SH circular dichroism, and correlation with fluorescence lifetime imaging (FLIM) for in vivo wound healing diagnosis. The potentials and challenges for future researches in exploring complex biological tissues are also discussed.

Liquid crystal-based Mueller matrix spectral imaging polarimetry for parameterizing mineral structural organization

Herein, we discuss the remote assessment of the subwavelength organizational structure of a medium. Specifically, we use spectral imaging polarimetry, as the vector nature of polarized light enables it to interact with optical anisotropies within a medium, while the spectral aspect of polarization is sensitive to small-scale structure. The ability to image these effects allows for inference of spatial structural organization parameters. This work describes a methodology for revealing structural organization by exploiting the Stokes/Mueller formalism and by utilizing measurements from a spectral imaging polarimeter constructed from liquid crystal variable retarders and a liquid crystal tunable filter. We provide results to validate the system and then show results from measurements on a mineral sample.

Use of combined polarization-sensitive optical coherence tomography and Mueller matrix imaging for the polarimetric characterization of excised biological tissue

Mueller matrix polarimetry and polarization-sensitive optical coherence tomography (PS-OCT) are two emerging techniques utilized in the assessment of tissue anisotropy. While PS-OCT can provide cross-sectional images of local tissue birefringence through its polarimetric sensitivity, Mueller matrix polarimetry can be used to measure bulk polarimetric properties such as depolarization, diattenuation, and retardance. To this day true quantification of PS-OCT data can be elusive, partly due to the reliance on inverse models for the characterization of tissue birefringence and the influence of instrumentation noise. Similarly for Mueller matrix polarimetry, calculation of retardance or depolarization may be influenced by tissue heterogeneities that could be monitored with PS-OCT. Here, we propose an instrument that combines Mueller matrix polarimetry and PS-OCT. Through the co-registration of the two systems, we aim at achieving a better understanding of both modalities.

A polarized multispectral imaging system for quantitative assessment of hypertrophic scars

Hypertrophic scars (HTS) are a pathologic reaction of the skin and soft tissue to burn or other traumatic injury. Scar tissue can cause patients serious functional and cosmetic issues. Scar management strategies, specifically scar assessment techniques, are vital to improve clinical outcome. To date, no entirely objective method for scar assessment has been embraced by the medical community. In this study, we introduce for the first time, a novel polarized multispectral imaging system combining out-of-plane Stokes polarimetry and Spatial Frequency Domain Imaging (SFDI). This imaging system enables us to assess the pathophysiology (hemoglobin, blood oxygenation, water, and melanin) and structural features (cellularity and roughness) of HTS. To apply the proposed technique in an in vivo experiment, dermal wounds were created in a porcine model and allowed to form into scars. The developed scars were then measured at various time points using the imaging system. Results showed a good agreement with clinical Vancouver Scar Scale assessment and histological examinations.

Alignment and temperature effects in liquid-crystal-based active polarimetry

It is well known that in liquid crystal (LC)-based active polarimetry, alignment and temperature effects impact polarimeter performance. Practically speaking, when constructing a polarimetric measurement system from LC variable retarders (LCVRs), unavoidable alignment and temperature uncertainties will occur, leading to systematic error that propagates to the Mueller matrix. Typical calibration methods use only a single metric to assess polarimeter performance (the condition number) and often ignore the relationship between systematic error and specific Mueller matrix elements. Here we explore alignment and temperature effects in a Stokes generator and polarimeter, each consisting of two LCVRs, through a series of simulations to calibrate the polarimeter and measure the Mueller matrix of air. We achieve this by modifying an existing LCVR model to incorporate alignment and temperature effects. This new approach offers insight into employing LCVRs individually and associating particular Mueller matrix element error with specific LCVR effects.

Compact and robust method for full Stokes spectropolarimetry

We present an approach to spectropolarimetry that requires neither moving parts nor time dependent modulation, and that offers the prospect of achieving high sensitivity. The technique applies equally well, in principle, in the optical, UV, or IR. The concept, which is one of those generically known as channeled polarimetry, is to encode the polarization information at each wavelength along the spatial dimension of a two-dimensional data array using static, robust optical components. A single 2D data frame contains the full polarization information and can be configured to measure either two or all of the Stokes polarization parameters. By acquiring full polarimetric information in a single observation, we simplify polarimetry of transient sources and in situations where the instrument and target are in relative motion. The robustness and simplicity of the approach, coupled with its potential for high sensitivity, and applicability over a wide wavelength range, is likely to prove useful for applications in challenging environments such as space.

Out-of-plane Stokes imaging polarimeter for early skin cancer diagnosis

Optimal treatment of skin cancer before it metastasizes critically depends on early diagnosis and treatment. Imaging spectroscopy and polarized remittance have been utilized in the past for diagnostic purposes, but valuable information can be also obtained from the analysis of skin roughness. For this purpose, we have developed an out-of-plane hemispherical Stokes imaging polarimeter designed to monitor potential skin neoplasia based on a roughness assessment of the epidermis. The system was utilized to study the rough surface scattering for wax samples and human skin. The scattering by rough skin-simulating phantoms showed behavior that is reasonably described by a facet scattering model. Clinical tests were conducted on patients grouped as follows: benign nevi, melanocytic nevus, melanoma, and normal skin. Images were captured and analyzed, and polarization properties are presented in terms of the principal angle of the polarization ellipse and the degree of polarization. In the former case, there is separation between different groups of patients for some incidence azimuth angles. In the latter, separation between different skin samples for various incidence azimuth angles is observed.

Polarization state generator: a polarimeter calibration standard

A polarization state generator (PSG) was built to generate light having a degree of linear polarization (DoLP) varying from 0.0005 to 0.4 with 0.0005 uncertainty. The PSG operates by tilting a plane parallel SF11 glass plate in a nearly unpolarized beam. The DoLP of collimated, unpolarized light passing through a plane parallel plate over a defined range of field angles can be calculated from theory, and the PSG was intended to act as a calibration standard based on this calculation. Several effects make the DoLP distribution as a function of field and tilt plate difficult to model to the desired 0.0005 uncertainty: source DoLP and intensity nonuniformity, lens surface diattenuation, and errors in optical alignment. Because of these effects, modeled DoLP was not used as a standard. Instead, DoLP was characterized with repeatability of 0.0005.

Spectroscopic sensitive polarimeter for biomedical applications

We present the design and calibration of a spectroscopic sensitive polarimeter. The polarimeter can measure the full Stokes vector in the wavelength range 550 to 750 nm with 1-nm resolution and consists of a fiber-based spectrophotometer, a white light emitting diode light source, two liquid crystal retarders, and one polarizer. Calibration of the system is achieved with a scheme that does not require knowledge of the polarizing elements' orientation or retardation. Six intensity spectra are required to calculate the full spectrum Stokes vector. Error in the polarimeter is less than 5%. We report the Stokes vectors for light transmitted through nonscattering polarizing elements as well as a measurement of the depolarizing properties of chicken muscle at several wavelengths.