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Overview of SWIR detectors, cameras, and applications

Marc P. Hansen, Douglas S. Malchow


Sensors Unlimited, part of Goodrich Corp, 3490 US Route 1, Blgd. 12, Princeton, NJ 08540

ABSTRACT

Imaging in the short wave infrared (SWIR) can bring useful contrast to situations and applications where visible or
thermal imaging cameras are ineffective. This paper will define the short wave infrared technology and discuss
developing imaging applications; then describe newly available 2-D (area) and 1-D (linear) arrays made with indium-
gallium-arsenide (InGaAs), while presenting the wide range of applications with images and videos. Applications
mentioned will be web inspection of continuous processes such as high temperature manufacturing processes,
agricultural raw material cleaning and sorting, plastics recycling of automotive and consumer products, and a growing
biological imaging technique, Spectral-Domain Optical Coherence Tomography.
Keywords: Short-wave infrared, near infrared, SWIR, NIR, photodiode arrays, InGaAs, inspection, sorting, biological
imaging, OCT, optical coherence tomography, vein imaging, night vision

1. INTRODUCTION
The short wave infrared (SWIR), may be defined as the portion of the electromagnetic spectrum from the point where
silicon detector response falls off to the beginning of the mid-wave infrared atmospheric transmission window. This is
nominally the wavelength range of 1 to 3 microns, a range that, similar to visible light, responds primarily to reflected
light from objects rather than the thermal emissions from those objects. The unique applications served by the SWIR are
the ones that benefit from reduced scattering effects of longer wavelengths, spectral signatures derived from molecular
vibrations, illumination from invisible sources (such as passive illumination from the night glow from the upper
atmosphere or active illumination from ‘eye safe’ lasers) or, alternatively, from thermal emissions emitted by objects
with temperatures above 150 degrees Celsius. To serve these SWIR applications, a variety of detectors can be used,
such as Germanium (Ge), Indium Gallium Arsenide (InGaAs), Indium Antimonide (InSb), and Mercury Cadmium
Telluride (MCT or HgCdTe). Of these, InGaAs array detectors have proved to be the most practical for imaging
applications due to their high quantum efficiency and low dark current at room temperature, particularly for lattice
matched InGaAs/InP detector structures operating in the 0.9 to 1.7 micron wavelength range. Recent developments,
described in other papers at the DSS-2008 conference, have extended the highest sensitivity versions of these detectors
to cover the shorter wavelengths of the near-infrared (NIR), opening up additional surveillance and hyperspectral
imaging applications.

2. SHORT-WAVE INFRARED
The electromagnetic spectrum covers radiation bands known as (listed in sequence of increasing wavelength): gamma
rays, x-rays, ultra-violet, visible light, infrared, millimeter waves, microwaves and finally radio waves. The infrared is
further defined as the part of the spectrum with wavelengths longer than the human eye perceives, approximately 0.7
microns, but shorter than those of the sub-millimeter band, which nominally start at 300 microns *. Sub-divisions of the
infrared, illustrated in figure 1, are frequently defined by a combination of the transmission windows in the atmosphere
and of the detection ranges of available sensors. Water vapor and CO2 absorption is strong across broad bands of the
infrared, with windows of relative transparency. For example, the mid-wave infrared (MWIR) refers to the region
between 3 and 5 microns, where both cryogenically cooled InSb and HgCdTe are used; and the long-wave infrared
(LWIR) is the region between 8 and 14 microns where HgCdTe and un-cooled microbolometers are used. The InSb and
HgCdTe detectors can be made to work down to 1 micron for use in the short-wave infrared, though with high expense
and filtering to limit the interference from longer wavelength radiation.

*
The name microwave is not a literal reference to the wavelength of the electromagnetic radiation, which runs from 300
µm to 300 mm, but is an old, comparative reference that was relative to the wavelengths of radio waves.

Thermosense XXX, edited by Vladimir P. Vavilov, Douglas D. Burleigh,


Proc. of SPIE Vol. 6939, 69390I, (2008)
0277-786X/08/$18 · doi: 10.1117/12.777776

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1.00
Si I2CCD
NVG (Gen III)
NIR-SWIR InGaAs
Standard InGaAs
0.75 2.2 LIm InGaAs
2.6 1m InGaAs
V
C
w

I ::: w

transmit in this range


:::0psienses 81012
Wavelength (pm)
Fig. 1. This illustration of a portion of the electromagnetic spectrum shows how the short wave infrared fits between
the visible and mid-wave infrared, with the wavelength axis shown on a logarithm scale. The quantum
efficiency curves for front illuminated 1-D and back illuminated 2-D InGaAs focal plane detector arrays are
shown, both devices in volume production. Also show is the QE for night vision goggles (NVGs) made with
image intensified CCDs (I2CCDs) using generation III photocathodes.

InGaAs detectors provide the highest detectivity (D*) of all sensors used in this range at the lowest acquisition and
operating costs. Strong absorbance due to overtones of molecular vibrations abound in the SWIR, providing spectral
identification signatures for moisture, proteins, lipids, esters and other chemicals sharing O-H, C-H and N-H molecular
bonds or combinations. Not only is it possible to identify the molecules creating the absorption, but also information
about the bonds, such as whether glues are cured or the approximate combustion temperature in an engine cylinder (by
use of high resolution spectroscopy of the O-H bonds in the combustion gases). SWIR imaging arrays are therefore
frequently used for diverse applications such as sorting recycled plastics, monitoring incoming sources of raw
agricultural products to groom out contamination by dirt, stones or packaging debris, as well as grade sorting by
moisture level or fat content. Pharmaceutical quality inspection before and after packaging has become particularly
important with the increased FDA regulation of quality in pharmaceutical manufacturing. The science of recording and
interpreting the absorbance spectrum of substances in the 0.7 to 2.5 µm to support these applications is known as NIR
spectroscopy and InGaAs detectors provide the most cost effective tools for capturing the spectrum.
Though absorbance by moisture strongly increases as a function of wavelength, there are also many relatively
transparent regions as well, such as at the fiber optic communications frequencies of 1.31 and 1.55 microns. SWIR
imagers are therefore frequently used to see the invisible laser light for beam profiles, alignment of telecommunications
fibers and sources, as well as for engineering and inspecting optical waveguides.

Proc. of SPIE Vol. 6939 69390I-2


Night vision on moonless nights is possible in the SWIR because, the O-H molecule floating in the upper atmosphere
radiates energy at various intensities throughout the night, with a spectral emission profile as shown in figure 2.

In IS
Wavelength (pm)

Fig. 2. The black curve shows the spectral radience known as night glow, emitted from the relaxation of hydroxyl
molecules in the upper atmosphere, overlaid on top of the QE of lattice matched InGaAs detectors, in red. Also
shown, on the left, is the QE of a NVG generation III night vision intensifier tube. (Night glow graph data from
Vatsia, Mirshri, L. “Atmospheric Optical Environment”, Research and Development Technical Report ECOM-
7023, September, 1972)

These emissions enable night-time surveillance under the passive illumination of the sky when imaged with high-
quality, low-dark-current InGaAs imaging arrays at room temperature, (see figure 2). For targeting applications, where
it is important to see the selected target in the context of the surroundings, the fielding of higher power ‘eye safe’ laser
have imposed new requirements on night vision imagers. Night vision intensifiers can not see eye-safe lasers nor the
current 1.06 micron targeting lasers. SWIR imagers were originally not able to see the fielded targeting lasers below 950
nm, while also delivering the sensitivity needed for surveillance under passive illumination. Recently, production has
started of Sensors Unlimited NIR/SWIRTM night-glow-sensitive cameras to address this challenge; these imager designs
have extended the response curve to include wavelengths shorter than 800 nm yet operate at the required gain needed for
night surveillance. This introduction has provided an all solid-state solution versus using current technology I2CCD
based NVGs for targeting applications. The new NIR/SWIR allows the imaging of 850 nm targeting lasers as well as
1.06 micron designators and 1.57 micron eye-safe laser range finders. (See figure 3)

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¶7
r

1550nm and On m IR Markers


Moonless night

Fig. 3. NIR/SWIR InGaAs camera image showing 0.85 and 1.55 micron wavelength laser designator spots marking a
building on a moonless night; note that the track of the 850 beam is also visible.

Another surveillance advantage of SWIR imagers is their ability to see farther through haze than visible imagers, due to
the reduced scattering as the wavelength of light gets longer (see figure 4). Long distance imaging through the
atmosphere is clearer too, for the same reason. When light interacts with atoms and molecules that are much smaller than
the wavelength of the light, the light rays are strongly scattered (at the rate of 1/wavelength to the 4th power) in a
phenomenon known as Rayleigh scattering, thus preventing short wavelengths from traveling long distances. As light
encounters spherical particles of dimensions near to or larger than that of its wavelength, it is attenuated at the slower
rate of 1/wavelength, as predicted by( the Mie theory of scattering. For large particles, ones that are 10 times larger than
the impinging wavelength such as dust or heavy fog), all wavelengths are attenuated equally.

Visible camera image through haze SWIR camera image through haze

I
Hotel
UIJ
S
10 U ,

Fig. 4. The left image shows the Gaylord Hotel from a distance of 1.5 miles during a hazy afternoon and was taken at
DSS 2007 using a commercial visible camera; the right-hand image was taken at the same time with a SWIR
640x512 pixel camera using a low-dispersion Tamron 300 mm f/2.8 lens.

Similar scattering effects vs. wavelength are observed in biological tissue, industrial coatings, semiconductors and
fiberglass circuit boards: longer wavelengths penetrate deeper than shorter wavelengths. A relatively new method for
ultra-high resolution imaging in opaque or semi-transparent materials, called optical coherence tomography (OCT), has
started using SWIR wavelengths for increased depth penetration. In ophthalmology, illumination centered at 0.84

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microns is typically used for OCT imaging of the center of the cornea and of the retina. However, the periphery of the
cornea is not transparent due to light scattering, preventing diagnosticians from detecting a potential cause of glaucoma
where the cornea intersects with the iris. Moving to 1.04 microns enables OCT systems to map that intersection (called
the anterior chamber angle); to inspect the retina even when cataracts cloud the lens of the eye (see figure 5); and to
image deeper under the retina in order to see the vascular structure. For contactless imaging into the tissue of skin and
the internal organs, 1.3 micron illumination is used for the increased penetration possible with ‘eye safe’ illumination
intensities. For industrial applications, where water absorption does not limit penetration depth, 1.55 micron
illumination permits even deeper probes into the materials to image voids or circuit shorts and opens.

.4:
Yy

Fig. 5. Spectral-domain OCT enface (planar) image of the vascular structure under the retina, derived from data taken
at 1.05 micron wavelength with an InGaAs linear photodiode array acquiring at over 46,000 lines per second.
Image courtesy of Dr. Wolfgang Drexler, Cardiff University
Another bio-medical application that is opening up for the NIR/SWIR cameras is vein location for administrating IVs or
blood transfusions. Though nurses mainly find veins by feel, it can be difficult to locate suitable sites in elderly or infant
patients, and under battlefield conditions. Figure 6 shows recent images, demonstrating the potential of this application.

Fig. 6. On the left is a broadband top-illuminated forearm image taken with new NIR/SWIR InGaAs camera showing
surface veins; on the right is a trans-illuminated image of a wrist showing veins and arteries (bones are
relatively transparent at these wavelengths).

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3. DETECTOR AND CAMERA DEVELOPMENTS
As InGaAs has the best detectivity for imaging in the SWIR, this paper shows the results of developments with InGaAs
linear (1-D) and matrix (2-D) focal plane arrays, and with cameras utilizing those arrays. The most significant
improvements in the last year for commercially available products are:
• Extension of the wavelength response of high-sensitivity 2-D InGaAs imagers to below 0.8 microns,
covering the NIR range normally reserved for silicon-based arrays. This is particularly of interest for
imaging the older battlefield laser rangefinders and target designators already in the field as well as the
new more powerful ‘eye safe’ versions, while providing scene context under the passive illumination of
the night glow from the upper atmosphere. This development is further discussed in section 3.1.
• A new linear array readout integrated circuit (ROIC) and camera for OCT that delivers 1024 pixels at
high-line rates of over 46,000 lines per second using lattice-matched InGaAs, speeding up non-invasive
acquisition of 3-D volume OCT images while providing microscopic resolution. (See section 3.2)
• A new ROIC with operating features especially suited for extended-wavelength-response InGaAs that
responds out to 2.6 microns, including auto-bias nulling, which reduces dark current non-uniformity by a
factor of ten, and reduces average dark current by a factor of 3. (See section 3.3)
• The compact camera platform has added new features and formats, including a 640 x 512 pixel format in
an OEM module that measures 42 x 38 x 41 mm and weights less than 90 grams. This platform has
several commercial and custom models with volume production for manned and un-manned vehicles,
both on the ground and in the air. (See section 3.4).

3.1 Two dimensional NIR/SWIR FPAs and cameras


The new NIR/SWIR 2-dimensional focal plane arrays (FPA) are a refinement of modified InGaAs detectors whose
response had been extended down to 0.4 microns and were first reported in 1999 by Sensors Unlimited at the Lasers and
Electro-Optics Society meeting. Further work was presented at DSS in 2005 when Visible InGaAsTM cameras were
introduced as commercial products. However, these arrays were limited to standard gain operation, preventing their use
for night surveillance. On-going work has refined the recipe and associated back-thinning method to reduce noise, while
also tailoring the wavelength response to 0.7 to 1.65 microns; this better matches the needs of the main surveillance
application. The improvement has permitted increasing the in-pixel gain to the level used in the Sensors Unlimited
night-glow sensitive cameras, and the added wavelength band adds to the night-time imaging capability (see figure 7).

Fig. 7. The left-hand image shows an image under moonless conditions, and the right hand image shows illumination
under a full moon (note the shadows). Images were acquired with 200 mm F/1 SWIR optimized lens and a
SU320KTX-NIR-1.7RT InGaAs camera.

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3.2 High speed linear array ROIC and camera
For the bio-medical application OCT and for high-speed machine vision applications, Sensors Unlimited designed a new
linear ROIC, designated as the LC model, featuring a maximum 12.5 MHz clock rate and multiple outputs per ROIC.
Used in the SU-LDH-1024-1.7RT/LC camera, the system delivers over 46,000 lines of 1024 pixels via a 14-bit data
Camera Link base-class interface. The features include an extensive bi-directional ASCII command set, on-board gain
and offset corrections, four gain choices for matching gain and full well capacity to the application, and three external
trigger modes. (OCT data and the camera are shown in figure 8.) The LC readout has also implemented a second set of
sample-and-hold capacitors to permit integrate-while-read operation, important to minimizing dead time when
monitoring continuous processes like screening incoming quality of agricultural products or sorting recycled plastic
pellets.

Fig. 8. On the left is an OCT image of a fingertip, showing underlying layers of tissue. It was acquired with the SU-
LDH-1024-1.7RT camera shown on the right. Each readout of this line scan camera recorded spectrally-
dispersed interferograms of back-scattered light from the skin surface (dark region at top of image) and below,
from above the skin at one location. This interferogram was processed with a fast Fourier transform (FFT)
algorithm to extract one column, called an A-line, with the result shown above between the image and the
camera. The 1000 columns of depth profile shown were acquired by scanning the light source probe over the
fingertip with a mirror sweeping at 47 Hz. To match the mirror sweep rate, the camera ran at 47,000 lines per
second in this user’s system . (Images courtesy of Dr. Kostadinka Bizheva, U of Waterloo.)

3.3 Linear array response extended to 2.6 microns

The LC model ROIC has also been designed to support linear array spectroscopy applications with extended-
wavelength- response InGaAs. This is material whose bandgap has been shifted to longer wavelengths by changing the
ratio of Indium to Gallium from a ratio of 53:47 to 82:18 (denoted as In(82)Ga(18)As). The stoichiometry of In(53)Ga(47)As
is referred to as ‘lattice matched’ because its crystal lattice structure matches that of the InP substrate. As a result, dark
current is low and the material’s bandgap allows absorption of wavelengths to 1.68 microns. Changing the ratio to
In(82)Ga(18)As moves the detector’s room temperature wavelength response out to 2.6 microns, but it also reduces the
quality of the film grown on the substrate due to the mismatch of the two crystal structures (see figure 9 for the spectral
response of this new material). The mismatch causes a large increases in dark current and non-uniformity for such
detectors, a fact that has limited the use of extended InGaAs for SWIR spectroscopy of the molecular vibration bands,
particularly those that result for combinations of the CH+CH, CH+CC, NH and OH molecules. These spectral bands are
of strong interest for agriculture, pharmaceutical and plastics recycling sorting and other quality control applications.
Thus, spectroscopists have had to use more expensive InSb or HgCdTe detectors to capture the longer wavelengths of
the SWIR band.

In a separate session at DSS 2008, Sensors Unlimited is presenting a paper describing the development of a new series of
extended-wavelength InGaAs arrays that show increased sensitivity due to improved process consistency, and also due
to the new features of the LC readout design. The first member to this family is the SU256LSC-2.6T2-0250 array,
consisting of 256 pixels of In(82)Ga(18)As on a 50 micron pitch and with 250 micron height. One LC ROIC is used to
provide a single readout, eliminating odd-even offsets and gain non-uniformities due to amplifier differences when two
outputs are used. The length of the array is 12.8 mm, a good match to miniature spectrometers that are frequently used
in field applications. Tighter process specifications are now able to be applied to the epitaxy growth, while yields have

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also improved, resulting in better, quieter detectors. The array and readout are mounted on an integrated two-stage
thermoelectric cooler inside a hermetically-sealed, dry nitrogen-purged package to permit operation to -20°C.

Responsivitry for In(82)Ga(18)As QE for In(82)Ga(18)As

1.2 0.7

QE (electrons/ photon)
1.0 0.6
0.8 0.5
R (A/ W)

0.4
0.6
0.3
0.4 0.2
0.2 0.1
0.0 0.0
1.4 1.6 1.8 2.0 2.2 2.4 2.6 1.4 1.6 1.8 2.0 2.2 2.4 2.6

Wavelength (µm) Wavelength (µm)

Fig. 9. Room temperature spectral response and quantum efficiency curves for the In(82)Ga(18)As used in the
SU256LSC-2.6T2-0250 linear photodiode array.

However, the dark current in extended InGaAs is many orders of magnitude greater than that for lattice-matched devices,
so new features in the ROIC were also necessary to create arrays suitable for commercial use. As dark current in a P-I-N
photodiode array greatly increases with bias voltage, running the diodes with bias as close as possible to zero volts
minimizes the dark current and increases the range of integration times that can be used for a particular operating
temperature. Unfortunately, pixel-to-pixel variations of the capacitive transimpedance amplifier circuit (CTIA) in the
silicon CMOS readout, specifically the input-offset voltage, result in variation of the actual bias voltages applied to the
diodes by +/-3 mV. This produces considerable dark-output non-uniformity across the array (see light grey line in figure
10). To reduce this variation, the LC readout has an optional autozero feature, for use at clock rates up to 5 MHz, which
samples the bias across the diode at the beginning of the integration cycle and then adjusts the bias to reduce the dark
variation. Improvement of dark non-uniformity by a factor of ten and the average dark current by a factor of three has
been demonstrated. (See dark line in figure 10.)

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Autozero feature ON vs. OFF, -20°C, 3.8ms exposure
Model SU256LC-2.6T2-0250 InGaAs photodiode linear array

800.0E-12

600.0E-12
Dark current per pixel (A)

400.0E-12

200.0E-12

000.0E+0

-200.0E-12

-400.0E-12
0 50 100 150 200 250

Pixel #
Autozero Off Autozero On

Fig. 10. a) Dark scan of SU256LC-2.6T2 with autozero off (light line) and with autozero on (heavy line).

The array provides four CTIA feedback capacitance settings inside each pixel with nominal full-well capacities of 1.3,
12.5, 125 and 250 million electrons. The large full-well settings permits utilizing the extended wavelength material for
longer exposure times than would otherwise be possible for a given operating temperature, while the smaller settings
provide high gains for the short integration times ideal for the OCT application described in section 3.2. The pixels also
provide bandwidth-limiting filter capacitors to allow the user to match the CTIA output noise bandwidth to the user’s
integration time, providing an additional tool for improving the signal-to-noise in spectroscopy applications.
3.4 Two-Dimensional InGaAs cameras: The SU-KT platform
First introduced by Sensors Unlimited in 2005 with the Model SU320KTX, the compact KT platform now includes:
• Night-glow sensitive 640 x 512 snapshot cameras with 12 pre-corrected operating modes for illumination levels
from reflected sunlight to the moonless night sky (Model SU640KTSX shown in figure 11a)
• Night-glow sensitive 320 x 256 snapshot cameras with 16 pre-corrected operating modes for the same
illumination levels (SU320KTSX)
• Snapshot imagers of 320 x 256 with 25 micron pitch (SU320KTS), featuring pre-corrected operating modes
varying either integration time or full-well capacity (for high light level applications),
• A fast 320 x 256 snapshot camera with full frame rates of 60 or 119 frames per second (fps), and programmable
region-of-interest window rates of over 1600 fps for 64 x 64, over 11,700 fps for a window of 16 x 16, or over
3,000 fps for a frame of 8 rows by 320 columns for fast spectra in a hyperspectral system. (SU320KTSW)

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For applications requiring a larger field of view or even faster window frame rates, a camera in a larger package and
with four ADCs provides full frames of 640 x 512 at 109 fps, 64 x 64 at 3200 fps, 16 x 16 at over 15,000 fps and 8 x 640
at over 5,600 fps.

In addition, custom ruggedized versions have been delivered in production quantities during the past year to serve an
expanded temperature range application for boresight alignment of targeting lasers to field weapons systems as part of a
Future Combat Services program. These systems used parameterized corrections over the range of -40 to +70 degrees C
to eliminate an internal thermoelectric cooling of the FPA.

Several of the KT models are available packaged as either an enclosed lab camera or as a skinless OEM module (see
figures 11a and 11b) for building into monoculars, gun sights, or UAVs (contact Sensors Unlimited for specific model
availability). The enclosed cameras measure, without lens, 53 x 53 x 65 mm (2.1 x 2.1 x 2.55 inches) and weight less
than 270 grams (9.5 ounces), and are complete with I/O connectors for triggers in, video out, power, Camera Link and
EIA232 serial communications. The OEM module reduces the dimensions to 42 mm x 38 mm x 41 mm (1.64 in. x 1.5
in. x 1.60 in.) and weighs less than 90 grams (3.2 ounces), also without lens. The module includes a video and command
I/O board using a 6-pin connector jack (a full interface may be implemented with a 30-pin ribbon cable from the host
system). The OEM module is available with a developer’s accessory kit that includes the full rear panel from the
enclosed model, which plugs into the same 30-pin connector, plus a lens, power supply, interface cables, tripod mount
and padded case.

Fig. 11. a) SU640KTSX OEM module b) SU320KTX, SU320KTS, SU320KTSX


or SU320KTSW standalone camera.

A major feature of the Sensors Unlimited 2-D Camera Link cameras, including the KT and SD platform, is the
implementation of on-board image enhancements in addition to a conventional automatic gain control (AGC). The
enhancements extract the most useful image contrast out of the 12-bit raw data for display within the 256 grey levels that
humans can perceive from video displays. The gain and offset coefficients for each frame are dynamically computed
using statistics from a previous frame and user-selected parameters.
By applying this enhancement algorithm, the pixel data will be stretched over the available pixel bit depth resulting in a
higher contrast scene for display. In figure 12, the effect of applying this enhancement algorithm on an example pixel
data histogram is shown. Figure 13 illustrates enhancement of an actual image.

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Frame Histogram With No Frame Histogram With Image
Image Enhancement Enhancement Applied

0 4095 0 4095
Fig. 12. Illustration of how the Sensors Unlimited image enhancements stretch a low contrast, low brightness image to
fill the 12-bit digital output’s available dynamic range.

Image enhancements on Image enhancements off

Fig. 13. Illustration of how the Sensors Unlimited image enhancements make visible the image content in the shadows
of the bright street lamps in the scene.

4. CONCLUSIONS
SWIR applications and cameras continue to evolve, with strong development expanding the role of Indium-Galium-
Arsinide FPAs and cameras in both industrial and military spheres. Extensions of the wavelength response of 2-D
cameras to include the 0.7 to 1 micron range have increased their value in surveillance and targeting applications, while
image enhancements make the resulting images more useable. Extension of the wavelength response of linear arrays on
the long side to 2.6 microns enables pharmaceutical and food applications for InGaAs that previously have been ceded to
the more exotic semiconductor compounds: Indium-Antimonide and Mercury Cadmium Telluride. Higher-speed linear-
array readouts have been developed to support the move of the bio-medical application Optical Coherence Tomography
to the SWIR wavelengths, while also enabling new high-speed machine vision applications.

ACKNOWLEDGEMENTS
We wish to thank Martin Ettenberg, Robert Brubaker and Jim Belsky, all of Sensors Unlimited, and part of Goodrich
Corp.; we also thank Cardiff University and the University of Waterloo for use of their OCT images.

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