@ashk2,
Neither clause is in the passive voice. The passive voice requires the verb "to be" plus the participle of another verb: was sold, were created, am told, etc.
Quote:Effects (caused by air pollution) are underestimated.
This sentence is correct and the phrase in parenthesis is an adjectival phrase of some sort (what effects?). Since it is a dependent clause (does not make sense on its own), it does not require a comma.
Quote:Effects, (which have been caused by air pollution) are underestimated.
This sentence is wrong. Since "which have been caused by air pollution" is a dependent clause, the comma should not be there. "Have been" is part of the adjectival phrase but can be omitted.
I am a student of grammar, so if I am wrong, someone else please let me know.