A Lightweight Single-Camera Polarization Compass with Covariance Estimation
A Lightweight Single-Camera Polarization Compass with Covariance Estimation
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DOI：
10.1109/iccv.2017.572
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发表时间：
2017-10
期刊：
影响因子：
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通讯作者：
W. Stürzl
中科院分区：
文献类型：
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作者：
W. Stürzl
提出了一种轻型视觉罗盘系统，以及一种直接估计太阳方向及其协方差的方法。描述了该系统的光学元件，能够在大约视场内估计天空偏振。56°与单个标准相机传感器。利用该方法，可以根据成像平面上测量到的偏振度估计太阳方向及其协方差矩阵。实验证明了极化传感器和所提出的估计方法在困难条件下的适用性。它还表明，在情况下，传感器不是水平的，与IMU的组合允许确定所有程度的方向。由于传感器重量小，估计方法的复杂度低，极化系统非常适合于载荷和计算资源有限的微型飞行器。此外，由于不仅太阳方向，而且它的协方差估计在多传感器导航框架的集成是直接的。
A lightweight visual compass system is presented as well as a direct method for estimating sun direction and its covariance. The optical elements of the system are described enabling estimation of sky polarization in a FOV of approx. 56° with a single standard camera sensor. Using the proposed direct method, the sun direction and its covariance matrix can be estimated based on the polarization measured in the image plane. Experiments prove the applicability of the polarization sensor and the proposed estimation method, even in difficult conditions. It is also shown that in case the sensor is not leveled, combination with an IMU allows to determine all degrees of orientation. Due to the low weight of the sensor and the low complexity of the estimation method the polarization system is well suited for MAVs which have limited payload and computational resources. Furthermore, since not just the sun direction but also its covariance is estimated an integration in a multi-sensor navigation framework is straight forward.