Fig. 1. Experimental setup and schematic diagram of multi-channel polarization diversity imaging LiDAR

Fig. 2. Parameter diagrams of LiDAR device. (a) Slow axis direction of the transmitted and received MPOs, as well as the corresponding relationships among the final point cloud channels I‒VI; (b) schematic diagram of Risley-prism multi-beam scanning; (c) multi-beam scanning pattern with the prism rotation speed ratio of 1.01; (d) FMCW measurement principle using triangular frequency modulation

Fig. 3. Examples of point cloud filtering in channel II. (a) Raw intensity point cloud; (b)‒(e) filtered point clouds using only DGF, DGF+SIF, DGF+SIF+SVF, and DGF+SIF+SVF+SOF

Fig. 4. Polarization intensity reflection point cloud

Fig. 5. Point cloud of the Mueller matrix (all elements are normalized by M11)

Fig. 6. Classification and extraction of the point cloud. (a) Point cloud of m22; (b) point cloud of m22=1; (c) point cloud of m22=0

Fig. 7. Mueller matrix parameter point cloud. (a) Point cloud of the linear diattenuation DL; (b) extraction of the point cloud with DL=1

Fig. 8. Real target scene and other buildings point clouds. (a) Real target scene of buildings A6 and A7 (taken on rainy weather); (b) classification and extraction of the m22 point cloud for buildings A8, A9, and A11