Imaging lidars are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a career to decide the final solution to be implemented. The diversity of state-of-the art approaches to the solution brings, however, a large uncertainty towards such decision. This results often in contradictory claims from different manufacturers and developers. Within this paper we intend to provide an introductory overview of the technology linked to imaging lidars for autonomous vehicles. We start with the main single-point measurement principles, and then present the different imaging strategies implemented 8 in the different solutions. An overview of the main components most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development has been included, 10 in order to discuss some of the problems which still need to be solved before an efficient final implementation.Beyond this introduction, the reader is provided with a detailed bibliography containing both relevant books and state of the art papers.

An evaluation of image contrast in a controlled foggy environment has been made by comparison between intensity imaging and different modes of polarimetric imaging. A small-scale fog chamber has been designed and constructed to create the necessary controlled foggy environment. A linear polarimetric camera of division of focal plane and a linearly polarized light source has been used for performing the experiments with polarized light. In order to evaluate the image contrast of the different imaging modes, the Michelson’s contrast of samples of different materials relative to their background has been calculated. The higher the image contrast, the easier is to detect and segment the targets of interest that are surrounded by fog. It has been proved quantitatively that in the studied situations polarimetric images present an improvement in contrast when compared to conventional intensity images.