Glass Detection Using Polarization Camera and LRF for SLAM in Environment with Glass
Glass Detection Using Polarization Camera and LRF for SLAM in Environment with Glass
复制标题
在有玻璃的环境中使用偏振相机和 LRF 进行 SLAM 的玻璃检测
DOI：
10.1109/rem49740.2020.9313933
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Atsushi Yamashita and Hajime Asama
中科院分区：
文献类型：
--
作者：
Eri Yamaguchi;Hiroshi Higuchi;Atsushi Yamashita and Hajime Asama
本文提出了一种在有玻璃的环境中进行SLAM的大范围玻璃检测方法。利用偏振相机测量的偏振度来检测激光测距仪无法检测到的玻璃。玻璃只能在小入射角下用LRF检测。玻璃表面反射光的偏振度在大入射角时较大。计算了长周期光纤测量中的玻璃直线，并利用偏振度检测出玻璃或空位。实验结果表明，该方法可以在较宽的检测范围内对玻璃进行检测。玻璃检测，偏振，偏振相机，SLAM。
In this paper, we propose a method to detect glass in wide range for SLAM in environment with glass. Degree of polarization from polarization camera was used to detect glass which cannot be detected by laser range-finders (LRFs). Glass is only detectable with LRFs in small incident angle. Degree of polarization of reflected light on the surface of glass is large in large incident angle. The straight line of glass in LRFs' measurement was calculated, and detected as glass or vacant space by using degree of polarization. We verified the method experimentally, and the results show that our method can detect glass in wide range. glass detection, polarization, polarization camera, SLAM.
DOI：
10.1109/icsenst.2012.6461672
发表时间：
2012
期刊：
2012 Sixth International Conference on Sensing Technology (ICST)
影响因子：
--
作者：
Aroma Mahendru;Mukul Sarkar
通讯作者：
Mukul Sarkar
影响因子：
4.3
作者：
Wang, Xun;Wang, JianGuo
通讯作者：
Wang, JianGuo