Polarised cameras for advanced robotics

Cameras with polarization filters on the sensor [1] are one of the newest advances in imaging technology. This project is built around working with these cameras and focuses on exploring the possibilities enabled by this technology. The project will initially focus on implementing algorithms from relevant state of the art, especially for haze removal, depth estimation and target identification using polarisation states.
This will be applied to various robotics projects from SLAM to autonomous mapping.
Required skills:
- C/C++ programming skills, Matlab and/or Python is a plus
- Experience with ROS is a plus

1. https://www.sony-semicon.co.jp/products_en/new_pro/september_2018/imx250...
2. Yoav Y. Schechner, Srinivas G. Narasimhan, and Shree K. Nayar, “Polarization-based vision through haze,” Applied Optics 42, No. 3, pp. 511-525 (2003), Special issue about Light and Color in the Open Air.
3. Yoav Y. Schechner, Srinivas G. Narasimhan and Shree K. Nayar, “Instant dehazing of images using polarization,” Proc. IEEE CVPR, Vol. I, pp. 325-332 (2001).
4. Yoav Y. Schechner and Yuval Averbuch, “Regularized image recovery in scattering media,” IEEE Trans. Pattern Analysis & Machine Intelligence 29, No. 9, pp. 1655-1660 (2007).
5. Ran Kaftory, Yoav Y. Schechner and Joshua Zeevi, “Variational distance dependent image restoration,” Proc. IEEE CVPR (2007).
6. Sarit Shwartz, Einav Namer and Yoav Y. Schechner, “Blind haze separation,” Proc. IEEE CVPR, Vol. 2, pp. 1984-1991 (2006).
7. Einav Namer, Sarit Shwartz and Yoav Y. Schechner, “Skyless polarimetric calibration and visibility enhancement,” Optics Express 17, No. 2, pp. 472-493 (2009).
8. Einav Namer and Yoav Y. Schechner, “Advanced visibility improvement based on polarization filtered images,” Proc. SPIE 5888: Polarization Science and Remote Sensing II, pp. 36-45 (2005).
9. Tali Treibitz and Yoav Y. Schechner, “Instant 3Descatter,” Proc. IEEE CVPR, Vol. 2, pp. 1861-1868 (2006).
10. Tali Treibitz and Yoav Y. Schechner, “Active polarization descattering,” IEEE Trans. Pattern Analysis & Machine Intelligence 31, No. 3, pp. 385-399 (2009).
11. Yoav Y. Schechner and Nir Karpel, “Clear underwater vision,” Proc. IEEE CVPR, Vol. 1, pp. 536-543 (2004).
12. Yoav Y. Schechner and Nir Karpel, “Recovering scenes by polarization analysis,” MTS/IEEE OCEANS, pp. 1255-1261 (2004).
13. Yoav Y. Schechner and Nir Karpel, “Recovery of underwater visibility and structure by polarization analysis,” IEEE Journal of Oceanic Engineering , Vol. 30 , No. 3 , pp. 570-587 (2005).
14. Yoav Y. Schechner and Yuval Averbuch, “Regularized image recovery in scattering media,” IEEE Trans. Pattern Analysis & Machine Intelligence, Vol. 29 , No. 9 , pp. 1655-1660 (2007).

Supervisor name: 
Yvan Petillot
Supervisor and Deputy email addresses: 
y.r.petillot@hw.ac.uk
T.Luczynski@hw.ac.uk
Deputy name: 
Tomasz Luczinsky