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A Lightweight Single-Camera Polarization Compass With Covariance Estimation

Stürzl, Wolfgang (2017) A Lightweight Single-Camera Polarization Compass With Covariance Estimation. In: Proceedings of the IEEE International Conference on Computer Vision. IEEE International Conference on Computer Vision (ICCV), Venice, Italy.

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Official URL: http://openaccess.thecvf.com/content_ICCV_2017/papers

Abstract

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 degrees 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.

Item URL in elib:https://elib.dlr.de/116836/
Document Type:Conference or Workshop Item (Poster)
Title:A Lightweight Single-Camera Polarization Compass With Covariance Estimation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stürzl, WolfgangWolfgang.Stuerzl (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:Proceedings of the IEEE International Conference on Computer Vision
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Polarization, Compass, MAV, sun position
Event Title:IEEE International Conference on Computer Vision (ICCV)
Event Location:Venice, Italy
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Deposited By: Stürzl, Wolfgang
Deposited On:11 Dec 2017 14:59
Last Modified:31 Jul 2019 20:14

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