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Indirect time-of-flight (iToF) imaging allows us to capture dense depthinformation at a low cost. However, iToF imaging often suffers from multipathinterference (MPI) artifacts in the presence of scattering media, resulting insevere depth-accuracy degradation. For instance, iToF cameras cannot measuredepth accurately through fog because ToF active illumination scatters back tothe sensor before reaching the farther target surface. In this work, we proposea polarimetric iToF imaging method that can capture depth information robustlythrough scattering media. Our observations on the principle of indirect ToFimaging and polarization of light allow us to formulate a novel computationalmodel of scattering-aware polarimetric phase measurements that enables us tocorrect MPI errors. We first devise a scattering-aware polarimetric iToF modelthat can estimate the phase of unpolarized backscattered light. We then combinethe optical filtering of polarization and our computational modeling ofunpolarized backscattered light via scattering analysis of phase and amplitude.This allows us to tackle the MPI problem by estimating the scattering energythrough the participating media. We validate our method on an experimentalsetup using a customized off-the-shelf iToF camera. Our method outperformsbaseline methods by a significant margin by means of our scattering model andpolarimetric phase measurements.

Polarimetric iToF: Measuring High-Fidelity Depth through Scattering Media