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Serres JR, Lapray PJ, Viollet S, Kronland-Martinet T, Moutenet A, Morel O, Bigué L. Passive Polarized Vision for Autonomous Vehicles: A Review. SENSORS (BASEL, SWITZERLAND) 2024; 24:3312. [PMID: 38894104 PMCID: PMC11174665 DOI: 10.3390/s24113312] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/19/2024] [Revised: 05/10/2024] [Accepted: 05/14/2024] [Indexed: 06/21/2024]
Abstract
This review article aims to address common research questions in passive polarized vision for robotics. What kind of polarization sensing can we embed into robots? Can we find our geolocation and true north heading by detecting light scattering from the sky as animals do? How should polarization images be related to the physical properties of reflecting surfaces in the context of scene understanding? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying future directions in passive polarized vision for robotics. After an introduction, three key interconnected areas will be covered in the following sections: embedded polarization imaging; polarized vision for robotics navigation; and polarized vision for scene understanding. We will then discuss how polarized vision, a type of vision commonly used in the animal kingdom, should be implemented in robotics; this type of vision has not yet been exploited in robotics service. Passive polarized vision could be a supplemental perceptive modality of localization techniques to complement and reinforce more conventional ones.
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Affiliation(s)
- Julien R. Serres
- The Institute of Movement Sciences, Aix Marseille University, CNRS, ISM, CEDEX 09, 13284 Marseille, France; (S.V.); (T.K.-M.); (A.M.)
- Institut Universitaire de France (IUF), 1 Rue Descartes, CEDEX 05, 75231 Paris, France
| | - Pierre-Jean Lapray
- The Institute for Research in Computer Science, Mathematics, Automation and Signal, Université de Haute-Alsace, IRIMAS UR 7499, 68100 Mulhouse, France;
| | - Stéphane Viollet
- The Institute of Movement Sciences, Aix Marseille University, CNRS, ISM, CEDEX 09, 13284 Marseille, France; (S.V.); (T.K.-M.); (A.M.)
| | - Thomas Kronland-Martinet
- The Institute of Movement Sciences, Aix Marseille University, CNRS, ISM, CEDEX 09, 13284 Marseille, France; (S.V.); (T.K.-M.); (A.M.)
- Materials Microelectronics Nanosciences Institute of Provence, Aix Marseille University, Université de Toulon, CNRS, IM2NP, 13013 Marseille, France
| | - Antoine Moutenet
- The Institute of Movement Sciences, Aix Marseille University, CNRS, ISM, CEDEX 09, 13284 Marseille, France; (S.V.); (T.K.-M.); (A.M.)
- Safran Electronics & Defense, 100 Av. de Paris, 91344 Massy, France
| | - Olivier Morel
- ImViA, Laboratory, University of Bourgogne, 71200 Le Creusot, France;
| | - Laurent Bigué
- The Institute for Research in Computer Science, Mathematics, Automation and Signal, Université de Haute-Alsace, IRIMAS UR 7499, 68100 Mulhouse, France;
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2
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Li G, Zhang Y, Fan S, Yu F. Underwater biomimetic orientation method using imaging polarization sensor based on direct sunlight compensation. OPTICS EXPRESS 2024; 32:17893-17910. [PMID: 38858958 DOI: 10.1364/oe.520710] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Accepted: 04/12/2024] [Indexed: 06/12/2024]
Abstract
This paper addresses the challenge of significant interference caused by direct sunlight, which adversely affects the orientation accuracy of underwater imaging polarization sensors (IPS). A novel underwater polarization orientation method is proposed based on direct sunlight compensation. Firstly, based on the polarization transmission model at the water-air interface, the interference mechanism of the underwater direct sunlight polarization detection model was analyzed. The underwater IPS detection model based on direct sunlight compensation is constructed, which uses the weight coefficient of underwater direct sunlight to compensate for the interference on the polarization channel and improve the accuracy of underwater polarization detection models. Furthermore, the analytical solution method for the polarization state information of underwater IPS is proposed, employing the augmented Stokes vectors to construct a linear equation for solving the weight coefficients of direct sunlight and improving the computational efficiency. Finally, an underwater polarization orientation experimental platform is established, and both simulation and actual underwater experiments are conducted. Compared with the traditional methods, the proposed method reduces heading error by an average of 92.53% at different solar altitudes.
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3
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Li G, Zhang Y, Fan S, Yu F. An Improved Bio-Orientation Method Based on Direct Sunlight Compensation for Imaging Polarization Sensor. J Imaging 2024; 10:74. [PMID: 38667972 PMCID: PMC11050838 DOI: 10.3390/jimaging10040074] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/09/2024] [Revised: 03/11/2024] [Accepted: 03/21/2024] [Indexed: 04/28/2024] Open
Abstract
Direct sunlight in complex environmental conditions severely interferes with the light intensity response for imaging Polarization Sensor (PS), leading to a reduction in polarization orientation accuracy. Addressing this issue, this article analyzes the impact mechanism of direct sunlight on polarization sensor detection in a complex environment. The direct sunlight interference factor is introduced into the intensity response model of imaging polarization detection, enhancing the accuracy of the polarization detection model. Furthermore, a polarization state information analytical solution model based on direct sunlight compensation is constructed to improve the accuracy and real-time performance of the polarization state information solution. On this basis, an improved bio-orientation method based on direct sunlight compensation for imaging polarization sensor is proposed. The outdoor dynamic reorientation experiment platform is established to validate the effectiveness of the proposed method. Compared with the traditional methods, the experimental results demonstrate a 23% to 47% improvement in the polarization orientation accuracy under various solar zenith angles.
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Affiliation(s)
| | - Ya Zhang
- School of Instrumentation Science and Engineering, Harbin Institute of Technology, Harbin 150001, China; (G.L.); (S.F.); (F.Y.)
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Wan Z, Zhao K, Cheng H, Fu P. Measurement Modeling and Performance Analysis of a Bionic Polarimetric Imaging Navigation Sensor Using Rayleigh Scattering to Generate Scattered Sunlight. SENSORS (BASEL, SWITZERLAND) 2024; 24:498. [PMID: 38257591 PMCID: PMC11154241 DOI: 10.3390/s24020498] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/10/2023] [Revised: 01/05/2024] [Accepted: 01/08/2024] [Indexed: 01/24/2024]
Abstract
The bionic polarimetric imaging navigation sensor (BPINS) is a navigation sensor that provides absolute heading, and it is of practical engineering significance to model the measurement error of BPINS. The existing BPINSs are still modeled using photodiode-based measurements rather than imaging measurements and are not modeled systematically enough. This paper proposes a measurement performance analysis method of BPINS that takes into account the geometric and polarization errors of the optical system. Firstly, the key error factors affecting the overall measurement performance of BPINS are investigated, and the Stokes vector-based measurement error model of BPINS is introduced. Secondly, based on its measurement error model, the effect of the error source on the measurement performance of BPINS is quantitatively analyzed using Rayleigh scattering to generate scattered sunlight as a known incident light source. The numerical results show that in angle of E-vector (AoE) measurement, the coordinate deviation of the principal point has a greater impact, followed by grayscale response inconsistency of CMOS and integration angle error of micro-polarization array, and finally lens attenuation; in degree of linear polarization (DoLP) measurement, the grayscale response inconsistency of CMOS has a more significant impact. This finding can accurately guide the subsequent calibration of BPINS, and the quantitative results provide an important theoretical reference for its optimal design.
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Affiliation(s)
- Zhenhua Wan
- School of Mechanical Engineering, Guangxi University, Nanning 530004, China;
| | - Kaichun Zhao
- Department of Precision Instrument, Tsinghua University, Beijing 100084, China;
| | - Haoyuan Cheng
- College of Engineering, Ocean University of China, Qingdao 266100, China;
| | - Peng Fu
- Department of Precision Instrument, Tsinghua University, Beijing 100084, China;
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5
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Han J, Wang F, Zhang Y, Deng W, Dai M, Hu F, Chen W, Cui J, Zhang C, Zhu S, Wang C, Ye M, Han S, Luo Y, Zhai T, Wang J, Wang QJ. Mid-Infrared Bipolar and Unipolar Linear Polarization Detections in Nb 2 GeTe 4 /MoS 2 Heterostructures. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2023; 35:e2305594. [PMID: 37740257 DOI: 10.1002/adma.202305594] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/11/2023] [Revised: 09/16/2023] [Indexed: 09/24/2023]
Abstract
Detecting and distinguishing light polarization states, one of the most basic elements of optical fields, have significant importance in both scientific studies and industry applications. Artificially fabricated structures, e.g., metasurfaces with anisotropic absorptions, have shown the capabilities of detecting polarization light and controlling. However, their operations mainly rely on resonant absorptions based on structural designs that are usually narrow bands. Here, a mid-infrared (MIR) broadband polarization photodetector with high PRs and wavelength-dependent polarities using a 2D anisotropic/isotropic Nb2 GeTe4 /MoS2 van der Waals (vdWs) heterostructure is demonstrated. It is shown that the photodetector exhibits high PRs of 48 and 34 at 4.6 and 11.0 µm wavelengths, respectively, and even a negative PR of -3.38 for 3.7 µm under the zero bias condition at room temperature. Such interesting results can be attributed to the superimposed effects of a photovoltaic (PV) mechanism in the Nb2 GeTe4 /MoS2 hetero-junction region and a bolometric mechanism in the MoS2 layer. Furthermore, the photodetector demonstrates its effectiveness in bipolar and unipolar polarization encoding communications and polarization imaging enabled by its unique and high PRs.
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Affiliation(s)
- Jiayue Han
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
- School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China, Chengdu, 610054, P. R. China
| | - Fakun Wang
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Yue Zhang
- State Key Laboratory of Materials Processing and Die and Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Wenjie Deng
- Key Laboratory of Optoelectronics Technology, Ministry of Education, Faculty of Information Technology, Beijing University of Technology, Beijing, 100124, P. R. China
| | - Mingjin Dai
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Fangchen Hu
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Wenduo Chen
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Jieyuan Cui
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Chaoyi Zhang
- School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China, Chengdu, 610054, P. R. China
| | - Song Zhu
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Chongwu Wang
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Ming Ye
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Song Han
- Interdisciplinary Center for Quantum Information, State Key Laboratory of Modern Optical Instrumentation, ZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, 310027, P. R. China
| | - Yu Luo
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
| | - Tianyou Zhai
- State Key Laboratory of Materials Processing and Die and Mould Technology, School of Materials Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, P. R. China
| | - Jun Wang
- School of Optoelectronic Science and Engineering, University of Electronic Science and Technology of China, Chengdu, 610054, P. R. China
| | - Qi Jie Wang
- Center for Optoelectronics and Biophotonics, School of Electrical & Electronic Engineering, Nanyang Technological University, Singapore, 639798, Singapore
- School of Physical and Mathematical Science, and, Photonics Institute, Nanyang Technological University, Singapore, 639798, Singapore
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6
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Zuo J, Bai J, Choi S, Basiri A, Chen X, Wang C, Yao Y. Chip-integrated metasurface full-Stokes polarimetric imaging sensor. LIGHT, SCIENCE & APPLICATIONS 2023; 12:218. [PMID: 37673857 PMCID: PMC10482842 DOI: 10.1038/s41377-023-01260-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/29/2023] [Revised: 07/27/2023] [Accepted: 08/09/2023] [Indexed: 09/08/2023]
Abstract
Polarimetric imaging has a wide range of applications for uncovering features invisible to human eyes and conventional imaging sensors. Chip-integrated, fast, cost-effective, and accurate full-Stokes polarimetric imaging sensors are highly desirable in many applications, which, however, remain elusive due to fundamental material limitations. Here we present a chip-integrated Metasurface-based Full-Stokes Polarimetric Imaging sensor (MetaPolarIm) realized by integrating an ultrathin (~600 nm) metasurface polarization filter array (MPFA) onto a visible imaging sensor with CMOS compatible fabrication processes. The MPFA is featured with broadband dielectric-metal hybrid chiral metasurfaces and double-layer nanograting polarizers. This chip-integrated polarimetric imaging sensor enables single-shot full-Stokes imaging (speed limited by the CMOS imager) with the most compact form factor, records high measurement accuracy, dual-color operation (green and red) and a field of view up to 40 degrees. MetaPolarIm holds great promise to enable transformative applications in autonomous vision, industry inspection, space exploration, medical imaging and diagnosis.
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Grants
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 2048230 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- 1809997 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- ECCS-1542160 NSF | ENG/OAD | Division of Electrical, Communications and Cyber Systems (ECCS)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
- DE-EE0008999 DOE | Advanced Research Projects Agency - Energy (Advanced Research Projects Agency - Energy - U.S. Department of Energy)
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Affiliation(s)
- Jiawei Zuo
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
| | - Jing Bai
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
| | - Shinhyuk Choi
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
| | - Ali Basiri
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
| | - Xiahui Chen
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
| | - Chao Wang
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA
- Biodesign Center for Molecular Design and Biomimetics, Arizona State University, 85281, Tempe, AZ, USA
| | - Yu Yao
- School of Electrical, Computer and Energy Engineering, Arizona State University, 85281, Tempe, AZ, USA.
- Center for Photonic Innovation, Arizona State University, 85281, Tempe, AZ, USA.
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Li S, Kong F, Xu H, Guo X, Li H, Ruan Y, Cao S, Guo Y. Biomimetic Polarized Light Navigation Sensor: A Review. SENSORS (BASEL, SWITZERLAND) 2023; 23:5848. [PMID: 37447698 DOI: 10.3390/s23135848] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/13/2023] [Revised: 05/15/2023] [Accepted: 06/17/2023] [Indexed: 07/15/2023]
Abstract
A polarized light sensor is applied to the front-end detection of a biomimetic polarized light navigation system, which is an important part of analyzing the atmospheric polarization mode and realizing biomimetic polarized light navigation, having received extensive attention in recent years. In this paper, biomimetic polarized light navigation in nature, the mechanism of polarized light navigation, point source sensor, imaging sensor, and a sensor based on micro nano machining technology are compared and analyzed, which provides a basis for the optimal selection of different polarized light sensors. The comparison results show that the point source sensor can be divided into basic point source sensor with simple structure and a point source sensor applied to integrated navigation. The imaging sensor can be divided into a simple time-sharing imaging sensor, a real-time amplitude splitting sensor that can detect images of multi-directional polarization angles, a real-time aperture splitting sensor that uses a light field camera, and a real-time focal plane light splitting sensor with high integration. In recent years, with the development of micro and nano machining technology, polarized light sensors are developing towards miniaturization and integration. In view of this, this paper also summarizes the latest progress of polarized light sensors based on micro and nano machining technology. Finally, this paper summarizes the possible future prospects and current challenges of polarized light sensor design, providing a reference for the feasibility selection of different polarized light sensors.
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Affiliation(s)
- Shunzi Li
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
| | - Fang Kong
- College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, China
| | - Han Xu
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
| | - Xiaohan Guo
- School of Information Science and Engineering, Shandong University, Qingdao 266237, China
| | - Haozhe Li
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
| | - Yaohuang Ruan
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
| | - Shouhu Cao
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
| | - Yinjing Guo
- College of Electronic and Information Engineering, Shandong University of Science and Technology, Qingdao 266590, China
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8
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Ning T, Ma X, Li Y, Li Y, Liu K. Efficient acquisition of Mueller matrix via spatially modulated polarimetry at low light field. OPTICS EXPRESS 2023; 31:14532-14559. [PMID: 37157316 DOI: 10.1364/oe.484579] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/10/2023]
Abstract
Mueller polarimetry performed in low light field with high speed and accuracy is important for the diagnosis of living biological tissues. However, efficient acquisition of the Mueller matrix at low light field is challenging owing to the interference of background-noise. In this study, a spatially modulated Mueller polarimeter (SMMP) induced by a zero-order vortex quarter wave retarder is first presented to acquire the Mueller matrix rapidly using only four camera shots rather than 16 shots, as in the state of the art technique. In addition, a momentum gradient ascent algorithm is proposed to accelerate the reconstruction of the Mueller matrix. Subsequently, a novel adaptive hard thresholding filter combined with the spatial distribution characteristics of photons at different low light levels, in addition to a low-pass fast-Fourier-transform filter, is utilized to remove redundant background noise from raw-low intensity distributions. The experimental results illustrate that the proposed method is more robust to noise perturbation, and its precision is almost an order of magnitude higher than that of the classical dual-rotating retarder Mueller polarimetry at low light field.
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9
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Zhang J, Wang S, Li W, Qiu Z. A Multi-Mode Switching Variational Bayesian Adaptive Kalman Filter Algorithm for the SINS/PNS/GMNS Navigation System of Pelagic Ships. SENSORS 2022; 22:s22093372. [PMID: 35591062 PMCID: PMC9100650 DOI: 10.3390/s22093372] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/05/2022] [Revised: 04/20/2022] [Accepted: 04/23/2022] [Indexed: 12/10/2022]
Abstract
The ocean-going environment is complex and changeable with great uncertainty, which poses a huge challenge to the navigation ability of ships working in the pelagic ocean. In this paper, in an attempt to deal with the complex uncertain interference that the environment may bring to the strap-down inertial navigation system/polarization navigation system/geomagnetic navigation system (SINS/PNS/GMNS) integrated navigation system, the multi-mode switching variational Bayesian adaptive Kalman filter (MMS-VBAKF) algorithm is proposed. To be more specific, to identify the degrees of measurement interference more effectively, we design an interference evaluation and multi-mode switching mechanism using the original polarization information and geomagnetic information. Through this mechanism, the interference to the SINS/PNS/GMNS navigation system is divided into three cases. In case of slight interference (case SI), the variational Bayesian method is adopted directly to solve the problem that the statistical characteristics of measurement noise are unknown. By the fixed-point iteration mechanism, the statistical properties of the measurement noise and the system states can be estimated adaptively in real time. In case of interference-tolerance (case TI), the estimation of the statistical characteristics of measurement noise need to weigh the measurement information at the moment and a priori value information comprehensively. In case of excessive interference (case EI), the SINS/PNS/GMNS integrated navigation system will perform mode switching and filtering system reconstruction in advance. Then, the information fusion and navigation states estimation can be completed. Consequently, the reliability, robustness, and accuracy of the SINS/PNS/GMNS integrated navigation system can be guaranteed. Finally, the effectiveness of the algorithm is illustrated by the simulation experiments.
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Affiliation(s)
- Jie Zhang
- School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;
| | - Shanpeng Wang
- School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China;
| | - Wenshuo Li
- Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China
- Correspondence: (W.L.); (Z.Q.)
| | - Zhenbing Qiu
- Hangzhou Innovation Institute, Beihang University, Hangzhou 310051, China
- Correspondence: (W.L.); (Z.Q.)
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10
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Wan Z, Zhao K, Li Y, Chu J. Measurement error model of the bio-inspired polarization imaging orientation sensor. OPTICS EXPRESS 2022; 30:22-41. [PMID: 35201192 DOI: 10.1364/oe.442244] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/01/2021] [Accepted: 12/07/2021] [Indexed: 06/14/2023]
Abstract
This article studies the measurement error model and calibration method of the bio-inspired polarization imaging orientation sensor (BPIOS), which has important engineering significance for promoting bio-inspired polarization navigation. Firstly, we systematically analyzed the measurement errors in the imaging process of polarized skylight and accurately established an error model of BPIOS based on Stokes vector. Secondly, using the simulated Rayleigh skylight as the incident surface light source, the influence of multi-source factors on the measurement accuracy of BPIOS is quantitatively given for the first time. These simulation results can guide the later calibration of BPIOS. We then proposed a calibration method of BPIOS based on geometric parameters and the Mueller matrix of the optical system and conducted an indoor calibration experiment. Experimental results show that the measurement accuracy of the calibrated BPIOS can reach 0.136°. Finally, the outdoor performance of BPIOS is studied. Outdoor dynamic performance test and field compensation were performed. Outdoor results show that the heading accuracy of BPIOS is 0.667°.
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11
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Uncertainty Evaluation in Vision-Based Techniques for the Surface Analysis of Composite Material Components. SENSORS 2021; 21:s21144875. [PMID: 34300614 PMCID: PMC8309869 DOI: 10.3390/s21144875] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 06/16/2021] [Revised: 07/08/2021] [Accepted: 07/15/2021] [Indexed: 11/25/2022]
Abstract
In this paper, a methodology is discussed concerning the measurement of yarn’s angle of two different glass-reinforced polypropylene matrix materials, widely used in the production of automotive components. The measurement method is based on a vision system and image processing techniques for edge detection. Measurements of angles enable, if accurate, both useful suggestions for process optimization to be made, and the reliable validation of the simulation results of the thermoplastic process. Therefore, uncertainty evaluation of angle measurement is a mandatory pre-requisite. If the image acquisition and processing is considered, many aspects influence the whole accuracy of the method; the most important have been identified and their effects evaluated with reference to two different materials, which present different optical-type characteristics. The influence of piece geometry has also been taken into account, carrying out measurements on flat sheets and on a semi-spherical object, which is a reference standard shape, to verify the effect of thermoforming and to tune the process parameters. Complete uncertainty in the order of a few degrees has been obtained, which is satisfactory for purposes of simulation validation and consequent process optimization. The uncertainty budget also allowed individuation of the most relevant causes of uncertainty for measurement process improvement.
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12
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Bionic Integrated Positioning Mechanism Based on Bioinspired Polarization Compass and Inertial Navigation System. SENSORS 2021; 21:s21041055. [PMID: 33557099 PMCID: PMC7913815 DOI: 10.3390/s21041055] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 12/17/2020] [Revised: 01/29/2021] [Accepted: 02/01/2021] [Indexed: 11/16/2022]
Abstract
In this paper, to address the problem of positioning accumulative errors of the inertial navigation system (INS), a bionic autonomous positioning mechanism integrating INS with a bioinspired polarization compass is proposed. In addition, the bioinspired positioning system hardware and the integration model are also presented. Concerned with the technical issue of the accuracy and environmental adaptability of the integrated positioning system, the sun elevation calculating method based on the degree of polarization (DoP) and direction of polarization (E-vector) is presented. Moreover, to compensate for the latitude and longitude errors of INS, the bioinspired positioning system model combining the polarization compass and INS is established. Finally, the positioning performance of the proposed bioinspired positioning system model was validated via outdoor experiments. The results indicate that the proposed system can compensate for the position errors of INS with satisfactory performance.
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