Fig. 1. GOM theory model and the transmission path of light on the interface of bubble

Fig. 2. The changing trend of intensity and DOP on the surface of single bubble after multiple reflection and transmission of incident light. (a) Variation trend of light transmission intensity; (b) variation trend of light transmission DOP

Fig. 3. Road map of backward transmission of light in bubble group

Fig. 4. Under different incident angles, the changing trend of intensity information after the forward transmission light penetrates bubble group many times. (a) Incident angle is 5°; (b) incident angle is 10°; (c) incident angle is 15°; (d) incident angle is 20°; (e) incident angle is 25°; (f) incident angle is 30°; (g) incident angle is 35°; (h) incident angle is 40°; (i) incident angle is 45°

Fig. 5. Under different incident angles, the changing trend of DOP’s information after the forward transmission light penetrates bubble group many times. (a) Incident angle is 5°; (b) incident angle is 10°; (c) incident angle is 15°; (d) incident angle is 20°; (e) incident angle is 25°; (f) incident angle is 30°; (g) incident angle is 35°; (h) incident angle is 40°; (i) incident angle is 45°

Fig. 6. When incident light is natural light, the changing trends of intensity and DOP of forward and backward transmission lights under different conditions. (a) The changing trend of intensity; (b) the changing trend of DOP

Fig. 7. Calibration experiment and calibration results of polarization camera. (a) Scene simulation diagram of camera calibration experiment; (b) radiometric calibration results; (c) polarization precision calibration results

Fig. 8. Experimental scenes of forward and backward transmissions of light in underwater bubble environment. (a) Experimental scene of forward transmission; (b) experimental scene of backward transmission

Fig. 9. Changing trend of forward transmission and backward transmission. (a) Changing trend of intensity of light transmission; (b) changing trend of DOP of light transmission

Table 1. Under different incident angles, the changing trend of intensity information after the forward transmission light penetrates into two bubbles

Table 2. Under different incident angles, the changing trend of DOP’s information after the forward transmission light penetrates into two bubbles