Planck observations at 353GHz provide the first fully-sampled maps of the polarized dust emission towards interstellar filaments and their backgrounds. The polarization data provide insight on the structure of their magnetic field (B). We present the polarization maps of three nearby star forming filament of moderate column density (NH~10^22cm^-2): Musca, B211, and L1506. We use the spatial information to separate Stokes I, Q, and U of the filaments from those of their backgrounds, an essential step to measure the intrinsic polarization fraction (p) and angle (psi) of each emission component. We find that the polarization angles in the three filaments (psi_fil) are coherent along their lengths and not the same as in their backgrounds (psi_bg). The differences between psi_fil and psi_bg are 12deg, 6deg, and 54deg for Musca, B211, and L1506, respectively. These differences for Musca and L1506 are larger than the dispersions of psi, both along the filaments and in their backgrounds. The observed changes of psi are direct evidence for variations of the orientation of the plane of the sky (POS) projection of the B-field. As in previous studies, we find a decrease of several percent of p with NH. We show that the drop in p cannot be explained by random fluctuations of the orientation of B within the filaments because they are too small (sigma_psi<10deg). We recognize the degeneracy between dust alignment efficiency and the structure of B in causing variations in p, but we argue that the decrease of p from the backgrounds to the filaments results in part from depolarization associated with the 3D structure of B: both its orientation in the POS and with respect to the POS. We do not resolve the inner structure of the filaments, but at the smallest scales accessible with Planck (~0.2pc), the observed changes of psi and p hold information on the B-field structure within filaments.
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