Multicamera polarized vision for the orientation with the skylight polarization patterns
作者: Chen FanXiaoping HuXiaofeng HeLilian ZhangYujie Wang
作者单位: 1National University of Defense Technology
刊名: Optical Engineering, 2018, Vol.57 (4), pp.043101-043101
来源数据库: SPIE-the International Society for Optical Engineering
DOI: 10.1117/1.OE.57.4.043101
关键词: Polarized orientationSkylight polarization patternsRayleigh scatteringPolarization sensor and robotic navigation
原始语种摘要: A robust orientation algorithm based on the skylight polarization patterns for the urban ground vehicle is presented. We present the orientation model with the Rayleigh scattering and propose the robust orientation algorithm with the total least square. The proposed algorithm can utilize the whole sky area polarization patterns for realizing a more robust and accurate orientation. To enhance the algorithm’s robustness in the urban environment, we develop a real-time method that uses the gradient of the degree of the polarization to remove the obstacles in the polarization image. In addition, our algorithm can solve the ambiguity problem of the polarized orientation without any other sensors. We also conduct a static rotating and a dynamic car experiments to evaluate the algorithm. The...
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关键词翻译
关键词翻译
  • orientation 定向
  • polarization 极化
  • vision 视力
  • skylight 天窗
  • robust 牢固的
  • algorithm 算法
  • accurate 精确的
  • propose 提议
  • polarized 极化的
  • square 正方形