CN114324185A - Underwater polarization detection device based on Stokes vector - Google Patents
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Abstract
The invention discloses an underwater polarization detection device based on Stokes vectors, which comprises: a lighting module; the imaging module is used for acquiring images in different polarization states and unpolarized original images under the working of the illumination module; the processing unit is used for controlling the polarization state of the imaging module during working and obtaining a recovery image of the underwater target object according to the images in different polarization states and the original image which is not polarized; and the illumination module, the imaging module and the processing unit are all arranged in the sealed cabin. According to the method, the calculation of the recovery image of the underwater target object is realized by acquiring the images in different polarization states and the images which are not polarized, so that the problem of reduced image contrast caused by back scattering is effectively solved, and the details of image recovery are enhanced; meanwhile, the unpolarized original image can be used for comparing with the polarized image, so that the problem of failure of the polarization method caused by different water environments can be effectively solved.
Description
Technical Field
The application relates to the technical field of underwater image acquisition, in particular to an underwater polarization detection device based on Stokes vectors.
Background
With the continuous and deep research on oceans by human beings, the underwater optical imaging technology is more and more widely applied, and people have higher requirements on underwater imaging definition. However, substances such as particles contained in water can absorb and scatter light, so that a serious valance effect is generated in a scene, and the problems of serious degradation, reduced contrast and the like of underwater imaging exist; part of the scattered light also forms back scattered light which is superimposed on the information light of the target object and interferes with the imaging.
Polarization is one of the essential properties of light, and represents the vibration condition of light in the propagation direction, so that the reflection and scattering information of the surface of an object in a scattering medium can be effectively known by shooting images of the object in different polarization states. According to the polarization optical theory, the Stokes vector can express the polarization state of light by using the intensity value of the light wave, so that the polarization degree of an image can be calculated through the Stokes vector, and a clear image is restored by using the polarization degree and the image brightness information, so that the problem of image degradation is solved. The existing polarization imaging method is mainly to obtain two underwater polarization images with orthogonal polarization states and separate the images by using the difference between background scattered light and target information light so as to obtain clear images.
However, in the process of implementing the present invention, the inventors found that the following problems exist in the prior art:
substances such as particles contained in water can absorb and scatter light, so that a serious valance effect is generated in a scene, and the problems of serious degradation, reduced definition and the like of underwater imaging exist; part of the scattered light also forms backscattered light which is superimposed on the information light of the target and interferes with the imaging. The existing underwater image acquisition device cannot obtain clear images in various environmental water bodies with different turbidities, and a common polarization camera cannot be suitable for the condition that the polarization states of target information light and backward scattering light are very close to each other due to the fact that the water body environment changes.
Disclosure of Invention
The embodiment of the application aims to provide an underwater polarization detection device based on Stokes vectors, so as to solve the technical problem that the device cannot be applied to environmental water bodies with different turbidities in the related technology.
According to a first aspect of embodiments of the present application, there is provided an underwater polarization detection device based on Stokes vectors, including:
a lighting module;
the imaging module is used for acquiring images in different polarization states and an unpolarized original image under the working of the illumination module;
the processing unit is used for controlling the polarization state of the imaging module during working and obtaining a recovery image of the underwater target according to the images in different polarization states and the original image which is not polarized; and
and the lighting module, the imaging module and the processing unit are all arranged in the sealed cabin.
Further, still include:
and the power supply module is arranged in the sealed cabin and used for providing working voltage for the illumination module, the imaging module and the processing unit.
Furthermore, the lighting module comprises two symmetrically-installed LED lamp combined arrays, each LED lamp combined array comprises a plurality of LED lamps, wired polarizing films are arranged in front of one third of the LED lamps, circular polarizing films are arranged in front of one third of the LED lamps, the polarizing films are not arranged in front of the other LED lamps, and the processing unit correspondingly turns on the LED lamps provided with the wired polarizing films or the circular polarizing films according to the polarization state of the imaging module.
Furthermore, the imaging module comprises an optical lens and an image acquisition unit which are arranged on the same optical axis, wherein a polarization structure is arranged between the optical lens and the image acquisition unit, and the polarization structure is used for arranging different polarizing plates or not arranging the polarizing plates on the optical axis.
Further, the polarization structure includes:
the rotating wheel is provided with a positioning sensor and a plurality of mounting grooves, wherein one mounting groove is empty and is used for enabling the imaging module to acquire an unpolarized original image, the other mounting grooves are used for mounting a circular polarizing film and a plurality of different linear polarizing films and are used for enabling the imaging module to acquire images in different polarization states, and the positioning sensor is arranged beside one mounting groove and is used for providing position information of the rotating wheel for the processing unit; and
and the processing unit drives the rotating wheel to rotate by controlling the driving structure according to the position information, so that the polarization state of the imaging module during working is controlled.
Further, the process of obtaining the restored image of the underwater target object by the processing unit according to the image of the different polarization state and the original image without polarization comprises:
calculating the linearly polarized light intensity and the left and right circularly polarized light intensity in the direction corresponding to the angle of the linear polarizer in the imaging module according to the images in different polarization states;
calculating four components of a Stocks vector according to the left and right optical intensities of the linearly polarized light intensity and the circularly polarized light intensity;
and obtaining a recovery image of the underwater target according to the four components of the Stocks vector and the original image which is not polarized.
Further, calculating four components of a Stocks vector according to the linearly polarized light intensity and the left and right circularly polarized light intensities, including:
wherein S is a Stocks vector; i is0、I45、I90、I135Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 45 degrees, 90 degrees and 135 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 90 DEG; u is the difference between the linear polarized light intensity in the 45-degree and 90-degree directions; v is the circular polarization of the total light intensity.
Further, calculating four components of a Stocks vector according to the linearly polarized light intensity and the left and right circularly polarized light intensities, including:
wherein S is a Stocks vector; i is0、I60、I120Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 60 degrees and 120 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 120 DEG; u is the difference between the linearly polarized light intensity in the 60-degree and 120-degree directions; v is the circular polarization of the total light intensity.
Further, obtaining a restored image of the underwater target according to the four components of the Stocks vector and the original image which is not polarized, wherein the restored image comprises:
optimizing the polarization degree of the underwater background light and the light intensity of the underwater background at infinity by constructing an objective function for recovering an image;
calculating the underwater transmittance according to the optimized underwater background light polarization degree and the light intensity of the underwater background at infinity;
and calculating a recovery image according to the underwater transmissivity, the optimized light intensity at the infinite position of the underwater background and the unpolarized original image.
Furthermore, the sealed cabin comprises a cavity, a front end cover and a rear end cover, and static sealing is realized between the cavity and the front end cover and between the cavity and the rear end cover.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the embodiment, the imaging module acquires images in different polarization states and images which are not polarized, so that calculation of recovery images of underwater target objects is achieved, the polarization imaging can be used under the condition that a water body is turbid, the interference of backward scattering light is reduced, the imaging module is suitable for environment water bodies with different turbidities, the problem of reduction of image contrast caused by backward scattering is effectively solved, and the details of image recovery are enhanced; meanwhile, the unpolarized original image acquired by the method is compared with the polarized image when the upper computer performs image fusion processing, so that the problem of polarization method failure caused by different water environments can be effectively avoided, and a clear underwater image is acquired.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
Fig. 1 is a schematic structural diagram illustrating a Stokes vector-based underwater polarization detection apparatus according to an exemplary embodiment.
Fig. 2 is a schematic plan view of a polarizer wheel according to an exemplary embodiment.
Fig. 3 is a flowchart illustrating a process of obtaining, by the processing unit, a restored image of the underwater target according to the image of the different polarization state and the original image without polarization according to an exemplary embodiment.
Fig. 4 is a flowchart illustrating step S13 according to an exemplary embodiment.
The reference numerals in the figures include:
100. a lighting module; 200. an imaging module; 210. an optical lens; 220. an image acquisition unit; 230. a polarizing structure; 231. a rotating wheel; 232. a drive structure; 233. mounting grooves; 234. a positioning sensor; 300. a processing unit; 400. sealing the cabin; 500. and a power supply module.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
Fig. 1 is a schematic structural diagram illustrating a Stokes vector-based underwater polarization detection apparatus according to an exemplary embodiment, which may include an illumination module 100, an imaging module 200, a processing unit 300, and a sealed cabin 400, as shown in fig. 1, wherein the imaging module 200 is configured to acquire images of different polarization states and an unpolarized original image under the operation of the illumination module 100; the processing unit 300 is configured to control the polarization state of the imaging module 200 during operation and obtain a recovered image of the underwater target according to the images with different polarization states and the original image without polarization; the illumination module 100, the imaging module 200 and the processing unit 300 are all disposed within the capsule 400.
As can be seen from the above embodiments, the imaging module 200 of the present application obtains images in different polarization states and unpolarized images, thereby achieving calculation of a recovered image of an underwater target object, reducing interference of backscattered light by using polarization imaging under the condition of turbid water, being suitable for environmental water with different turbidity degrees, effectively solving the problem of reduced image contrast caused by backscattering, and enhancing details of image recovery; meanwhile, the unpolarized original image acquired by the method is compared with the polarized image when the upper computer performs image fusion processing, so that the problem of polarization method failure caused by different water environments can be effectively avoided, and a clear underwater image is acquired.
In an embodiment, the processing unit 300 includes an upper computer monitoring device and a transmitting end upper computer, the upper computer monitoring device is respectively connected to the imaging module 200, the lighting module 100 and the power module 500, different lighting arrays can be selected according to different shooting modes, the upper computer can automatically adjust the lighting modes when shooting different modes, and the transmitting end upper computer communicates with the upper computer through an underwater optical-electrical composite cable.
Specifically, the lighting module 100, the imaging module 200 and the processing unit 300 are arranged in the sealed cabin 400, and the power module 500 is arranged in the sealed cabin 400 and used for providing working voltage for the lighting module 100, the imaging module 500 and the processing unit 300.
In one embodiment, the illumination module 100, imaging module 200, and processing unit 300 are all secured within the capsule 400 by brackets.
Specifically, the lighting module 100 includes two symmetrically installed LED lamp combination arrays, each of the LED lamp combination arrays includes a plurality of LED lamps, a wired polarizer is disposed in front of one third of the LED lamps, a circular polarizer is disposed in front of one third of the LED lamps, no polarizer is disposed in front of the other LED lamps, and the processing unit 300 correspondingly turns on the LED lamps provided with the wired polarizers or the circular polarizers according to the polarization state of the imaging module 200.
In one embodiment, each LED lamp in the lighting module 100 is individually connected to the processing unit 300, so that the processing unit 300 controls the brightness of the lighting module 100 according to the requirement.
Specifically, the imaging module 200 includes an optical lens 210 and an image capturing unit 220 disposed on the same optical axis, a polarization structure 230 is disposed between the optical lens 210 and the image capturing unit 220, and the polarization structure 230 is used for disposing different polarizers or no polarizer on the optical axis.
In one embodiment, the image capturing unit 220 is a web portal smart camera model BVS1280M manufactured by Dasla corporation with a resolution of 1280 × 960.
In one embodiment, the optical lens 210 is a long focal length lens.
Specifically, the polarization structure 230 includes a rotating wheel 231 and a driving structure 232, the rotating wheel 231 is provided with a positioning sensor 234 and a plurality of mounting grooves 233, one of the mounting grooves 233 is empty for enabling the imaging module 200 to obtain an unpolarized original image, the other mounting grooves 233 are used for mounting a circular polarizer and a plurality of different linear polarizers for enabling the imaging module 200 to obtain images with different polarization states, the positioning sensor 234 is disposed beside one of the mounting grooves 233 for providing the processing unit 300 with position information of the rotating wheel 231, and the processing unit 300 drives the rotating wheel 231 to rotate by controlling the driving structure 232 according to the position information, so as to control the polarization state of the imaging module 200 during operation.
In one embodiment, as shown in fig. 2, the polarizer wheel 231 has six polarizer mounting slots 233 and a central gear slot, the polarizers are respectively a 0 ° linear polarizer, a 45 ° linear polarizer, a 90 ° linear polarizer, a 135 ° linear polarizer and a circular polarizer, the position sensor 234 is disposed beside the 0 ° linear polarizer, the driving structure 232 includes a motor and a gear connected to an output end of the motor, and the gear is embedded in the central gear slot.
In another embodiment, the polarizer wheel 231 has five polarizer mounting grooves 233 with equal spacing and a central gear slot, the polarizers are respectively a 0 ° linear polarizer, a 60 ° linear polarizer, a 120 ° linear polarizer and a circular polarizer, the positioning sensor 234 is disposed beside the 0 ° linear polarizer, and the driving structure 232 includes a motor and a gear connected to an output end of the motor, and the gear is embedded in the central gear slot.
Specifically, as shown in fig. 3, the process of obtaining the restored image of the underwater target by the processing unit 300 according to the images of different polarization states and the original image without polarization includes:
step S11: calculating the linearly polarized light intensity in the direction corresponding to the angle of the linear polarizer in the imaging module 200 according to the images in different polarization states;
specifically, firstly, an optimal polarization mode is selected according to the turbidity degrees of different water bodies, and meanwhile, the upper computer automatically switches the illumination module 100 to a corresponding illumination mode. Under the condition that a water body is clear, the definition difference between the polarization imaging and the visible light image shot by a normal camera is not large, but the polarization imaging can reflect more details of a target object, when the water body becomes turbid, the imaging of the underwater target is blurred due to the absorption and scattering of water particles, the energy of the incident light by the water particles is converted into other energy forms, so that the energy of the incident light is weakened, and the light energy irradiated on the target and the light energy received by a detector are reduced, so that the imaging distance is influenced. The imaging definition is reduced, and the light field scattered by the scattering particles has partial polarization characteristics, so that the polarization information is acquired and processed, and the imaging quality can be improved in principle. Experiments prove that the circular polarization imaging effect is superior to the linear polarization imaging effect when the target object is close, and the linear polarization effect is superior to the circular polarization effect when the distance is long. And under different turbidity degrees, two modes can have different effects, and we can select the mode of shooing through host computer operation according to the visual result, for example when surveying the target object closely, we can select to use circular polarization mode to shoot through the host computer this time, when the target object distance is far away, we can select the linear polarization mode. The linearly polarized light intensity is the pixel gray scale of the corresponding image, and the left and right optical rotation intensities of the circularly polarized light are set to be 0.
Step S12: calculating four components of a Stocks vector according to the linearly polarized light intensity;
specifically, in an embodiment in which the 0 ° linear polarizer, the 45 ° linear polarizer, the 90 ° linear polarizer, the 135 ° linear polarizer, and the circular polarizer are provided, step S12 includes:
wherein S is a Stocks vector; i is0、I45、I90、I135Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 45 degrees, 90 degrees and 135 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 90 DEG; u is the difference between the linearly polarized light intensity in the 45-degree and 135-degree directions; v is the circular polarization of the total light intensity.
Specifically, in another embodiment provided with a 0 ° linear polarizer, a 60 ° linear polarizer, a 120 ° linear polarizer, and a circular polarizer, step S12 includes:
wherein S is a Stocks vector; i is0、I60、I120Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 60 degrees and 120 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 120 DEG; u is the difference between the linearly polarized light intensity in the 60-degree and 120-degree directions; v is the circular polarization of the total light intensity.
Step S13: and obtaining a recovery image of the underwater target according to the four components of the Stocks vector and the original image which is not polarized.
Specifically, as shown in fig. 4, this step includes the following sub-steps:
step S21: optimizing the polarization degree of the underwater background light and the light intensity of the underwater background at infinity by constructing an objective function for recovering an image;
specifically, a global background light image is estimated by minimum value filtering, and then global polarization degree information is acquired by the Stokes vector principle. Calculating the underwater infinite background light value by a mathematical method.
Step S22: calculating the underwater transmittance according to the optimized underwater background light polarization degree and the light intensity of the underwater background at infinity:
specifically, the calculation formula of the underwater transmittance t (x, y) is as follows (1),
wherein P isscatRepresents the optimized underwater background light polarization degree, A∞Representing the light intensity and the linear polarization intensity of the optimized underwater background at infinity
Step S23: calculating a recovery image L (x, y) according to the underwater transmissivity, the optimized light intensity at the infinite position of the underwater background and the unpolarized original image:
specifically, the calculation formula of the restored image L (x, y) is as follows (2),
where I (x, y) is the unpolarized original image, A∞The optimized light intensity of the underwater background at infinity is shown, the t (x, y) shows the underwater transmittance, and the estimation needs to be carried out by a polarization method, which is also the key point of the whole underwater image restoration. Estimation of the transmission t (x, y) under water:
in the formula Pscat、A∞All estimates are needed, Δ I (x, y) can then be found by Stokes vector (I, Q, U, V):
for Pscat、A∞We regard this as an optimization parameter, and the parameter optimization is achieved by constructing an objective function on the restored image L (x, y), which selects the information entropy function:
wherein p isiFor the probability of a gray level of i in the image L (x, y), the optimization problem can be represented by the following equation:
since the information entropy function is a concave function, and the local optimal point is the global optimal point, the information entropy function can be searched in the range of the constraint condition by a gradient ascending method to find the optimal parameter, and the optimal parameter is certain to exist. The restored image data L (x, y) can be obtained by substituting the obtained parameters into expression (2).
Specifically, the capsule 400 includes a cavity, a front end cap and a rear end cap, and static seals are implemented between the cavity and the front end cap and between the cavity and the rear end cap.
In particular, the static seal may be achieved by a sealing gasket, such as an O-ring.
Specifically, the front end cover is installed with a piece of transparent pressure-resistant glass, and the rear end cover is installed with a watertight connector for signal transmission or power transmission between the inside of the capsule 400 and the outside.
The underwater polarization detection device based on the Stokes vector has the following working process:
(1) the underwater polarization detection device is placed near an underwater target object, and the upper computer sends an illumination command to the illumination device and sends a shooting command to the image acquisition unit 220.
(2) After the processing unit 300 obtains the position information in the positioning sensor 234, the upper computer monitoring device transmits the information to the upper computer.
(3) After the image acquisition unit 220 takes an image, the upper computer monitoring device transmits the image to the upper computer, and the upper computer sends a rotation command to the driving structure 232, so as to replace the polaroid in front of the image acquisition unit 220.
(4) And (3) repeating the steps (2) and (3), and sequentially shooting images of the lower target object in different polarization states and the original image which is not polarized.
(5) And when the upper computer receives a group of complete image data, four components of the Stokes vector are obtained through calculation, and a recovery image of the underwater target object is obtained according to the four components of the Stokes vector and the unpolarized original image.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (10)
1. An underwater polarization detection device based on Stokes vectors, comprising:
a lighting module;
the imaging module is used for acquiring images in different polarization states and an unpolarized original image under the working of the illumination module;
the processing unit is used for controlling the polarization state of the imaging module during working and obtaining a recovery image of the underwater target according to the images in different polarization states and the original image which is not polarized; and
and the lighting module, the imaging module and the processing unit are all arranged in the sealed cabin.
2. The apparatus of claim 1, further comprising:
and the power supply module is arranged in the sealed cabin and used for providing working voltage for the illumination module, the imaging module and the processing unit.
3. The device of claim 1, wherein the lighting module comprises two symmetrically-arranged LED lamp combination arrays, each LED lamp combination array comprises a plurality of LED lamps, a wired polarizer is arranged in front of one third of the LED lamps, a circular polarizer is arranged in front of one third of the LED lamps, no polarizer is arranged in front of the rest of the LED lamps, and the processing unit correspondingly turns on the LED lamps provided with the wired polarizers or the circular polarizers according to the polarization state of the imaging module.
4. The apparatus according to claim 1, wherein the imaging module comprises an optical lens and an image capturing unit disposed on the same optical axis, and a polarization structure is disposed between the optical lens and the image capturing unit, and the polarization structure is used for disposing a different polarizer or no polarizer on the optical axis.
5. The apparatus of claim 4, wherein the polarizing structure comprises:
the rotating wheel is provided with a positioning sensor and a plurality of mounting grooves, wherein one mounting groove is empty and is used for enabling the imaging module to acquire an unpolarized original image, the other mounting grooves are used for mounting a circular polarizing film and a plurality of different linear polarizing films and are used for enabling the imaging module to acquire images in different polarization states, and the positioning sensor is arranged beside one mounting groove and is used for providing position information of the rotating wheel for the processing unit; and
and the processing unit drives the rotating wheel to rotate by controlling the driving structure according to the position information, so that the polarization state of the imaging module during working is controlled.
6. The apparatus of claim 1, wherein the process of obtaining the restored image of the underwater target from the images of different polarization states and the unpolarized original image by the processing unit comprises:
calculating the linearly polarized light intensity and the left and right circularly polarized light intensity in the direction corresponding to the angle of the linear polarizer in the imaging module according to the images in different polarization states;
calculating four components of a Stocks vector according to the left and right optical intensities of the linearly polarized light intensity and the circularly polarized light intensity;
and obtaining a recovery image of the underwater target according to the four components of the Stocks vector and the original image which is not polarized.
7. The apparatus of claim 6, wherein calculating four components of a Stocks vector from the left and right optical intensities of the linearly polarized light and the circularly polarized light comprises:
wherein S is a Stocks vector; i is0、I45、I90、I135Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 45 degrees, 90 degrees and 135 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 90 DEG; u is the difference between the linearly polarized light intensity in the 45-degree and 135-degree directions; v is the circular polarization of the total light intensity.
8. The apparatus of claim 6, wherein calculating four components of a Stocks vector from the left and right optical intensities of the linearly polarized light and the circularly polarized light comprises:
wherein S is a Stocks vector; i is0、I60、I120Respectively represents the linearly polarized light intensity in the directions of 0 degrees, 60 degrees and 120 degrees; i islAnd IrRespectively showing the left-handed light intensity and the right-handed light intensity of the circularly polarized light; i is the total intensity of light; q is the difference between linearly polarized light in the directions of 0 DEG and 120 DEG; u is the difference between the linearly polarized light intensity in the 60-degree and 120-degree directions; v is the circular polarization of the total light intensity.
9. The apparatus of claim 6, wherein obtaining a recovered image of an underwater target from the four components of the Stocks vector and the unpolarized original image comprises:
optimizing the polarization degree of the underwater background light and the light intensity of the underwater background at infinity by constructing an objective function for recovering an image;
calculating the underwater transmittance according to the optimized underwater background light polarization degree and the light intensity of the underwater background at infinity;
and calculating a recovery image according to the underwater transmissivity, the optimized light intensity at the infinite position of the underwater background and the unpolarized original image.
10. The apparatus of claim 1, wherein the capsule comprises a chamber, a front end cap, and a rear end cap, wherein a static seal is achieved between the chamber and the front end cap and between the chamber and the rear end cap.
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