Visual pose estimation is of great significance in the field of precision measurement and navigation and positioning. However, under low-light illumination conditions, the feature extraction of traditional visual images is easy to fail, resulting in the failure of visual pose estimation. This paper proposes a pose estimation method based on polarimetric imaging under low-light illumination conditions. This method calculates the polarization information of the target environment and uses the polarization image to calculate the pose. Since the degree of polarization can highlight the contour of the target, this method combines the advantages of the polarization characteristics of the target environment to estimate the pose. Through environmental experiments, we found that the grayscale distribution of the polarization image is more uniform in the low-light environment, and the grayscale does not change significantly with the illumination. We verified the feasibility of the proposed posture estimation method based on polarimetric imaging. This method provides a technical reference for special scenarios (tunnels, underground parking lots).
The bionic polarization navigation sensor has important research and application value in the field of modern navigation. In this study, a new algorithm for calculating the solar meridian azimuth from imaging polarization navigation sensors is proposed. By analyzing the sky polarization distribution model,there is only one line with a polarization angle of 90° in the projection plane of the sensor, and the zenith point of the sky must be on this line, with which a novel method for extracting the solar meridian in the two-dimensional projection plane is proposed. A polarization measurement model is built based on the Stokes vector method. Gaussian smoothing filtering is performed on the polarization angle image to conduct image noise suppression. The preliminary positioning of the solar meridian is solved by a dual-threshold recursive method.Then, the accuracy of the meridian detection is promoted to the sub-pixel level by interpolation to detect the exact pixel points on the solar meridian. Finally, the least-squares fitting of the precisely positioned pixels are utilized to obtain an accurate azimuth angle.An outdoor verification experiment is carried out with an imaging bionic polarization navigation sensor with a high-precision turntable system.The experimental results show that the static repeatability measurement accuracy of the algorithm is 0.0554° (σ) . The dynamic maximum error is less than 0.95° . This indicates the effectiveness and feasibility of the direction angle calculation method. The method can provide accurate and no cumulative error heading information for the movement of the carrier and provides important technical support for the field of navigation.
The function structure and angle solution algorithm of a novel imaging polarization navigation sensor are proposed. The
lab setup prototype of imaging polarization navigation sensor is constructed, and the photo response of dual-tier
polarization grating is given. A novel angle solution algorithm for imaging polarization navigation is designed, which
implements precise navigation angle extraction by means of main polarization direction selection, polarization direction
line character detection and polarization direction image center checkout. Combined polarization light sensitivity wave
band with broad vision field polarization direction imaging detection, the detection spatial solution of polarization
navigation sensor can be effectively improved. Polarization grating photo response and polarization image direction
detection experiment indicates the function structure design and angle algorithm of the novel polarization navigation
sensor are feasible.
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