Lidar imaging systems are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a race dedicated to deciding the final solution to be implemented. However, the diversity of state-of-the-art approaches to the solution brings a large uncertainty on the decision of the dominant final solution. Furthermore, the performance data of each approach often arise from different manufacturers and developers, which usually have some interest in the dispute. Within this paper, we intend to overcome the situation by providing an introductory, neutral overview of the technology linked to lidar imaging systems for autonomous vehicles, and its current state of development. We start with the main single-point measurement principles utilized, which then are combined with different imaging strategies, also described in the paper. An overview of the features of the light sources and photodetectors specific to lidar imaging systems most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development in autonomous vehicles has been included, in order to present some of the problems which still need to be solved before implementation may be considered as final. The reader is provided with a detailed bibliography containing both relevant books and state-of-the-art papers for further progress in the subject.

This paper focuses on exploring ways to improve the performance of LiDAR imagers through fog. One of the known weaknesses of LiDAR technology is the lack of tolerance to adverse environmental conditions, such as the presence of fog, which hampers the future development of LiDAR in several markets. Within this paper, a LiDAR unit is designed and constructed to be able to apply temporal and polarimetric discrimination for detecting the number of signal photons received with detailed control of its temporal and spatial distribution under co-polarized and cross-polarized configurations. The system is evaluated using different experiments in a macro-scale fog chamber under controlled fog conditions. Using the complete digitization of the acquired signals, we analyze the natural light media response, to see that due to its characteristics it could be directly filtered out. Moreover, we confirm that there exists a polarization memory effect, which, by using a polarimetric cross-configuration detector, allows improvement of object detection in point clouds. These results are useful for applications related to computer vision, in fields like autonomous vehicles or outdoor surveillance where many variable types of environmental conditions may be present.

The polarization behavior of light transmitted through scattering media is studied quantitatively. A division of focal plane (DOFP) imaging polarimeter modified with a wideband quarter-wave plate (QWP) is used to evaluate the linear and circular depolarization signals. This system allows the measurement of the linear and circular co-polarization and cross-polarization channels simultaneously. The experiments are carried out at CEREMA’s 30 m fog chamber under controlled fog density conditions. The polarization memory effect with circularly polarized light is demonstrated to be superior in forward transmission compared to the same phenomena with linearly polarized light when imaging inside a scattering medium. This paves the way for its use in imaging through scattering media for hazard detection in different applications.

We compare conventional intensity imaging against different modes of polarimetric imaging by evaluating the image contrast of images taken in a controlled foggy environment. A small-scale fog chamber has been designed and constructed to create the necessary controlled foggy environment. A division-of-focal-plane camera of linear polarization and a linearly polarized light source has been used for performing the experiments with polarized light. In order to evaluate the image contrast of the different imaging modes, the Michelson contrast of samples of different materials relative to their background has been calculated. The higher the image contrast, the easier it is to detect and segment the targets of interest that are surrounded by fog. It has been quantitatively demonstrated that polarimetric images present an improvement in contrast compared to conventional intensity images in the situations studied.

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.

Adverse weather conditions present a primary challenge for ground-based LiDAR imaging systems in outdoor applications. The use of polarization has been proposed as an effective filtering mechanism. However, the number of potential situations is large, complex and difficult to parameterize with accuracy. In such conditions, advanced simulation methods enable the testing of different experimental configurations and the determination of the best possible setup. With this purpose, a Monte Carlo algorithm is presented for modeling polarized pulsed LiDAR signals in turbid media. This algorithm is designed for immediate applicability, incorporating realistic media characterization and accounting for the attributes of existing prototypes. It allows testing various experimental configurations, managing optical obstacles, adjusting polarization arrangements, and different geometries of particles within the medium. The developed algorithm accurately characterizes backscattering signals, revealing their dependence on medium properties. A relationship between visibility and backscattering energy is identified, offering insights for sensor optimization. Polarization analysis highlights the efficacy of circular polarization in mitigating scattering effects and establishes a connection with the polarimetric characteristics of imaged targets. The algorithm's application to irregular particles reveals also an unexpected behavior of polarized light, challenging established strategies. These diverse use cases exemplify the algorithm's capability to model real-world circumstances, emphasizing its significance in predicting cutting-edge situations when designing optical systems for complex and demanding outdoor scenarios.