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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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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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Li Q, Dong L, Hu Y, Hao Q, Lv J, Cao J, Cheng Y. Skylight Polarization Pattern Simulator Based on a Virtual-Real-Fusion Framework for Urban Bionic Polarization Navigation. SENSORS (BASEL, SWITZERLAND) 2023; 23:6906. [PMID: 37571690 PMCID: PMC10422526 DOI: 10.3390/s23156906] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/16/2023] [Revised: 07/31/2023] [Accepted: 08/01/2023] [Indexed: 08/13/2023]
Abstract
In a data-driven context, bionic polarization navigation requires a mass of skylight polarization pattern data with diversity, complete ground truth, and scene information. However, acquiring such data in urban environments, where bionic polarization navigation is widely utilized, remains challenging. In this paper, we proposed a virtual-real-fusion framework of the skylight polarization pattern simulator and provided a data preparation method complementing the existing pure simulation or measurement method. The framework consists of a virtual part simulating the ground truth of skylight polarization pattern, a real part measuring scene information, and a fusion part fusing information of the first two parts according to the imaging projection relationship. To illustrate the framework, we constructed a simulator instance adapted to the urban environment and clear weather and verified it in 174 urban scenes. The results showed that the simulator can provide a mass of diverse urban skylight polarization pattern data with scene information and complete ground truth based on a few practical measurements. Moreover, we released a dataset based on the results and opened our code to facilitate researchers preparing and adapting their datasets to their research targets.
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Affiliation(s)
| | | | - Yao Hu
- Key Laboratory for Precision Optoelectronic Measurement Instrument and Technology, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
| | - Qun Hao
- Key Laboratory for Precision Optoelectronic Measurement Instrument and Technology, School of Optics and Photonics, Beijing Institute of Technology, Beijing 100081, China
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