Polarization Orientation Method Based on Remote Sensing Image in Cloudy Weather

Abstract

Autonomous navigation technology is a core technology for intelligent operation, allowing the vehicles to perform tasks without relying on external information, which effectively improves the concealability and reliability. In this paper, based on the previous research on the bionic compound eye, a multi-channel camera array with different polarization degrees was used to construct the atmospheric polarization state measurement platform. A polarization trough threshold segmentation algorithm was applied to study the distribution characteristics and characterization methods of polarization states in atmospheric remote sensing images. In the extracted polarization feature map, the tilting suggestion box was obtained based on the multi-direction window extraction network (similarity-based region proposal networks, SRPN) and the rotation of the suggestion box (Rotation Region of interests, RRoIs). Fast Region Convolutional Neural Networks (RCNN) was used to screen the suggestion boxes, and the Non-maximum suppression (NMS) method was used to select the angle, corresponding to the label of the suggestion box with the highest score, as the solar meridian azimuth in the vehicle coordinate system. The azimuth angle of the solar meridian in the atmospheric coordinate system can be calculated by the astronomical formula. Finally, the final heading angle can be obtained according to the conversion relationship between the coordinate systems. By fitting the measured data based on the least Square method, the slope K value is −1.062, RMSE (Root Mean Square Error) is 6.984, and the determination coefficient R-Square is 0.9968. Experimental results prove the effectiveness of the proposed algorithm, and this study can construct an autonomous navigation algorithm with high concealment and precision, providing a new research idea for the research of autonomous navigation technology.

Bio-inspired Sky Polarized Orientation based on the atmospheric polarization symmetry mode and Inertial Sensors

“…The azimuth distribution model of solar polarized light is symmetrical about the solar meridian, and the azimuth of the solar meridian is 90 r q, which deviates from the original theoretical line. [15] According to the symmetry of the azimuth of The feature region of the solar meridian has a symmetric edge. In the edge detection of many images, canny operator has Gaussian smooth noise reduction, calculation of gradient amplitude and direction, non-maximum suppression of gradient amplitude, double threshold algorithm detection and connecting edge to detect the optimal edge.…”

An Improved Bio-Orientation Method Based on Direct Sunlight Compensation for Imaging Polarization Sensor

“…Therefore, a first-order Rayleigh scattering model can be used to describe the atmospheric scattering process under clear weather, where the direction of the electric vibration vector of the scattered light is perpendicular to the scattering surface. As sunlight traverses the Earth's atmosphere, it establishes a stable polarization distribution pattern across the entire sky due to the scattering effects of atmospheric molecules and aerosol particles [4][5][6]. Biological studies have indicated that organisms such as mantis shrimp [7], octopuses [8], locust [9], and desert ants [10] can utilize their unique visual structures to perceive the polarization patterns of the entire sky, employing this information for self-orientation.…”