Long-range polarimetric propagation in turbid media

Lidar imaging is a powerful measurement technique where a laser pulse is shone onto an object and the beam reflected back is recovered at some solid-state detector. The time elapsed is counted so an automated measurement of the distance to the target is obtained, without any further calculation. The concept is also referred to as ladar or time of-flight imaging. Most popular recent applications involve landing aids, object recognition, self-guided vehicles and safety and security applications in transport. One of the major issues remaining for long and short range lidarImaging through nebulous media encountered in nature, like fog, rain, and light haze, is on the most up-to-date research problems in the field of navigation as a result of the recent increasing interest in autonomous vehicles. However, it is still an unresolved problem. One of the proposed approaches to solve it is based on polarization, as in a turbid medium, polarized light is known to preserve its polarization properties deeper into the medium. Thus, the main aim of this thesis is to create from scratch a model of the interaction between polarized light and the scattering particles present in this kind of medium. As a result, this work presents the development and validation of a model based on a combination of Mie theory and the Monte Carlo method, for its later use as tool to study the feasibility and characteristics of a polarimetric imaging technique for long-range imaging in nebulous media

An overview of lidar imaging systems for autonomous vehicles

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.Peer ReviewedPostprint (published version

Quantitative demonstration of the superiority of circularly polarized light in fog environments

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.Agència de Gestió d’Ajuts Universitaris i de Recerca (2020FI_B1 00185, 2020FI_B2 00068); European Social Fund; Ministerio de Ciencia e Innovación (MICINN) (PID2020-119484RB-I00).Peer ReviewedPostprint (published version

Modeling the Use of LiDAR through Adverse Weather

Due to the outstanding characteristics of LiDAR imaging systems, they seem essential for the consolidation of novel applications related to computer vision, in fields such as autonomous vehicles, outdoor recognition, and surveillance. However, the final technology implementation still has some uncertainties and needs in-depth work for its use in these real-world applications. Under the presence of adverse weather conditions, for example in fog, LiDAR performance is heavily influenced and the quality of the detection becomes severely degraded. The range is reduced due to the dispersion of the media and the sensor could be saturated due to backscattering or deliver a very limited range. Light propagation modeling through turbid media is used as a tool to understand and study these phenomena. Mie Theory allows the characterization of the optical media and light-particle interactions. Monte-Carlo methods are used to solve the radiative transfer problem related to these situations. When working with those models, the results obtained are in accordance with the ones shown in experimental tests, and it is possible to predict the necessities and problems of the designed systems

Temporal behavior and processing of the LiDAR signal in fog

The interest in LiDAR imaging systems has recently increased in outdoor ground-based applications related to computer vision, in fields like autonomous vehicles. However, for the complete settling of the technology, there are still obstacles related to outdoor performance, being its use in adverse weather conditions one of the most challenging. When working in bad weather, data shown in point clouds is unreliable and its temporal behavior is unknown. We have designed, constructed, and tested a scanning-pulsed LiDAR imaging system with outstanding characteristics related to optoelectronic modifications, in particular including digitization capabilities of each of the pulses. The system performance was tested in a macro-scale fog chamber and, using the collected data, two relevant phenomena were identified: the backscattering signal of light that first interacts with the media and false-positive points that appear due to the scattering properties of the media. Digitization of the complete signal can be used to develop algorithms to identify and get rid of them. Our contribution is related to the digitization, analysis, and characterization of the acquired signal when steering to a target under foggy conditions, as well as the proposal of different strategies to improve point clouds generated in these conditions.This work was supported by the Spanish Ministry of Science and Innovation (MICINN) under the project PID2020-119484RB-I00. The first author gratefully acknowledges the Universitat Politècnica de Catalunya and Banco Santander for the financial support of her predoctoral research grant.Peer ReviewedPostprint (author's final draft

Analysis of the performance of a polarized LiDAR imager in fog

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.Agència de Gestió d’Ajuts Universitaris i de Recerca (2021FI_B2 00068, 2021FI_B2 00077); DSTL (DSTLX1000145661); Ministerio de Ciencia e Innovación (PDC2021-121038-I00, PID2020-119484RB-I00).Peer ReviewedPostprint (author's final draft

Endocardial infarct scar recognition by myocardial electrical impedance is not influenced by changes in cardiac activation sequence

Peer ReviewedPostprint (published version

Current clinical spectrum of common variable immunodeficiency in Spain: The multicentric nationwide GTEM-SEMI-CVID registry

Common variable immunodeficiency (CVID) constitutes a heterogenic group of primary immunodeficiency disorders with a wide-ranging clinical spectrum. CVID-associated non-infectious morbidity constitutes a major challenge requiring a full understanding of its pathophysiology and its clinical importance and global variability, especially considering the broad clinical, genetic, and regional heterogeneity of CVID disorders. This work aimed to develop a nationwide, multicenter, retrospective study over a 3-year period describing epidemiological, clinical, laboratory, therapeutic, and prognostic features of 250 CVID patients in Spain. The mean diagnostic delay was around 10 years and most patients initially presented with infectious complications followed by non-infectious immune disorders. However, infectious diseases were not the main cause of morbimortality. Non-infectious lung disease was extraordinarily frequent in our registry affecting approximately 60% of the patients. More than one-third of the patients in our cohort showed lymphadenopathies and splenomegaly in their follow-up, and more than 33% presented immune cytopenias, especially Evans' syndrome. Gastrointestinal disease was observed in more than 40% of the patients. Among biopsied organs in our cohort, benign lymphoproliferation was the principal histopathological alteration. Reaching 15.26%, the global prevalence of cancer in our registry was one of the highest reported to date, with non-Hodgkin B lymphoma being the most frequent. These data emphasize the importance of basic and translational research delving into the pathophysiological pathways involved in immune dysregulation and diffuse lymphocytic infiltration. This would reveal new tailored strategies to reduce immune complications, and the associated healthcare burden, and ensure a better quality of life for CVID patients

Genetic landscape of 6089 inherited retinal dystrophies affected cases in Spain and their therapeutic and extended epidemiological implications

Inherited retinal diseases (IRDs), defined by dysfunction or progressive loss of photoreceptors, are disorders characterized by elevated heterogeneity, both at the clinical and genetic levels. Our main goal was to address the genetic landscape of IRD in the largest cohort of Spanish patients reported to date. A retrospective hospital-based cross-sectional study was carried out on 6089 IRD affected individuals (from 4403 unrelated families), referred for genetic testing from all the Spanish autonomous communities. Clinical, demographic and familiar data were collected from each patient, including family pedigree, age of appearance of visual symptoms, presence of any systemic findings and geographical origin. Genetic studies were performed to the 3951 families with available DNA using different molecular techniques. Overall, 53.2% (2100/3951) of the studied families were genetically characterized, and 1549 different likely causative variants in 142 genes were identified. The most common phenotype encountered is retinitis pigmentosa (RP) (55.6% of families, 2447/4403). The most recurrently mutated genes were PRPH2, ABCA4 and RS1 in autosomal dominant (AD), autosomal recessive (AR) and X-linked (XL) NON-RP cases, respectively; RHO, USH2A and RPGR in AD, AR and XL for non-syndromic RP; and USH2A and MYO7A in syndromic IRD. Pathogenic variants c.3386G > T (p.Arg1129Leu) in ABCA4 and c.2276G > T (p.Cys759Phe) in USH2A were the most frequent variants identified. Our study provides the general landscape for IRD in Spain, reporting the largest cohort ever presented. Our results have important implications for genetic diagnosis, counselling and new therapeutic strategies to both the Spanish population and other related populations.This work was supported by the Instituto de Salud Carlos III (ISCIII) of the Spanish Ministry of Health (FIS; PI16/00425 and PI19/00321), Centro de Investigación Biomédica en Red Enfermedades Raras (CIBERER, 06/07/0036), IIS-FJD BioBank (PT13/0010/0012), Comunidad de Madrid (CAM, RAREGenomics Project, B2017/BMD-3721), European Regional Development Fund (FEDER), the Organización Nacional de Ciegos Españoles (ONCE), Fundación Ramón Areces, Fundación Conchita Rábago and the University Chair UAM-IIS-FJD of Genomic Medicine. Irene Perea-Romero is supported by a PhD fellowship from the predoctoral Program from ISCIII (FI17/00192). Ionut F. Iancu is supported by a grant from the Comunidad de Madrid (CAM, PEJ-2017-AI/BMD7256). Marta del Pozo-Valero is supported by a PhD grant from the Fundación Conchita Rábago. Berta Almoguera is supported by a Juan Rodes program from ISCIII (JR17/00020). Pablo Minguez is supported by a Miguel Servet program from ISCIII (CP16/00116). Marta Corton is supported by a Miguel Servet program from ISCIII (CPII17/00006). The funders played no role in study design, data collection, data analysis, manuscript preparation and/or publication decisions

New GJA8 variants and phenotypes highlight its critical role in a broad spectrum of eye anomalies

GJA8 encodes connexin 50 (Cx50), a transmembrane protein involved in the formation of lens gap junctions. GJA8 mutations have been linked to early onset cataracts in humans and animal models. In mice, missense mutations and homozygous Gja8 deletions lead to smaller lenses and microphthalmia in addition to cataract, suggesting that Gja8 may play a role in both lens development and ocular growth. Following screening of GJA8 in a cohort of 426 individuals with severe congenital eye anomalies, primarily anophthalmia, microphthalmia and coloboma, we identified four known [p.(Thr39Arg), p.(Trp45Leu), p.(Asp51Asn), and p.(Gly94Arg)] and two novel [p.(Phe70Leu) and p.(Val97Gly)] likely pathogenic variants in seven families. Five of these co-segregated with cataracts and microphthalmia, whereas the variant p.(Gly94Arg) was identified in an individual with congenital aphakia, sclerocornea, microphthalmia and coloboma. Four missense variants of unknown or unlikely clinical significance were also identified. Furthermore, the screening of GJA8 structural variants in a subgroup of 188 individuals identified heterozygous 1q21 microdeletions in five families with coloboma and other ocular and/or extraocular findings. However, the exact genotype–phenotype correlation of these structural variants remains to be established. Our data expand the spectrum of GJA8 variants and associated phenotypes, confirming the importance of this gene in early eye development