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Can we capture shape and reflectance in stealth? Such capability would bevaluable for many application domains in vision, xR, robotics, and HCI. Weintroduce Structured Polarization, the first depth and reflectance sensingmethod using patterns of polarized light (SPIDeRS). The key idea is to modulatethe angle of linear polarization (AoLP) of projected light at each pixel. Theuse of polarization makes it invisible and lets us recover not only depth butalso directly surface normals and even reflectance. We implement SPIDeRS with aliquid crystal spatial light modulator (SLM) and a polarimetric camera. Wederive a novel method for robustly extracting the projected structuredpolarization pattern from the polarimetric object appearance. We evaluate theeffectiveness of SPIDeRS by applying it to a number of real-world objects. Theresults show that our method successfully reconstructs object shapes of variousmaterials and is robust to diffuse reflection and ambient light. We alsodemonstrate relighting using recovered surface normals and reflectance. Webelieve SPIDeRS opens a new avenue of polarization use in visual sensing.

SPIDeRS: Structured Polarization for Invisible Depth and Reflectance Sensing