Guillaume Courtier, Pierre-Jean Lapray, Ronan Adam, S. Changey, Jean-Philippe Lauffenburger
{"title":"基于天窗偏振的地面车辆导航","authors":"Guillaume Courtier, Pierre-Jean Lapray, Ronan Adam, S. Changey, Jean-Philippe Lauffenburger","doi":"10.1109/PLANS53410.2023.10140044","DOIUrl":null,"url":null,"abstract":"Autonomous or unmanned ground vehicles can take advantage of camera-based navigation systems. These navigation systems mainly rely on standard radiometric cameras. The use of polarization information, such as captured by a polarization filter array camera, is a potential extension to capture multimodal information efficiently. In this communication, we propose a navigation method that relies exclusively on Stokes images reconstructed from polarization camera data. For this purpose, an image processing pipeline is employed to estimate the heading of a vehicle. To assess the method, an acquisition card has been built and coupled with two moving platforms: a rotary stage and a moving ground vehicle. The results show that, in a dynamic car experiment, the root mean square error of the orientation is 4.29° as compared to a Global Positioning System/Inertial Navigation System.","PeriodicalId":344794,"journal":{"name":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2023-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Ground Vehicle Navigation Based on the Skylight Polarization\",\"authors\":\"Guillaume Courtier, Pierre-Jean Lapray, Ronan Adam, S. Changey, Jean-Philippe Lauffenburger\",\"doi\":\"10.1109/PLANS53410.2023.10140044\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Autonomous or unmanned ground vehicles can take advantage of camera-based navigation systems. These navigation systems mainly rely on standard radiometric cameras. The use of polarization information, such as captured by a polarization filter array camera, is a potential extension to capture multimodal information efficiently. In this communication, we propose a navigation method that relies exclusively on Stokes images reconstructed from polarization camera data. For this purpose, an image processing pipeline is employed to estimate the heading of a vehicle. To assess the method, an acquisition card has been built and coupled with two moving platforms: a rotary stage and a moving ground vehicle. The results show that, in a dynamic car experiment, the root mean square error of the orientation is 4.29° as compared to a Global Positioning System/Inertial Navigation System.\",\"PeriodicalId\":344794,\"journal\":{\"name\":\"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2023-04-24\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/PLANS53410.2023.10140044\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 IEEE/ION Position, Location and Navigation Symposium (PLANS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/PLANS53410.2023.10140044","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Ground Vehicle Navigation Based on the Skylight Polarization
Autonomous or unmanned ground vehicles can take advantage of camera-based navigation systems. These navigation systems mainly rely on standard radiometric cameras. The use of polarization information, such as captured by a polarization filter array camera, is a potential extension to capture multimodal information efficiently. In this communication, we propose a navigation method that relies exclusively on Stokes images reconstructed from polarization camera data. For this purpose, an image processing pipeline is employed to estimate the heading of a vehicle. To assess the method, an acquisition card has been built and coupled with two moving platforms: a rotary stage and a moving ground vehicle. The results show that, in a dynamic car experiment, the root mean square error of the orientation is 4.29° as compared to a Global Positioning System/Inertial Navigation System.