融合天空偏振光的视觉SLAM研究进展与展望  

Progress and Prospects of Polarized Skylight Fused Visual SLAM

作　　者：夏琳琳[1] 张晶晶 初妍[2] 张道畅 宋梓维 崔家硕 刘瑞敏 XIA Linlin;ZHANG Jingjing;CHU Yan;ZHANG Daochang;SONG Ziwei;CUI Jiashuo;LIU Ruimin(School of Automation Engineering,Northeast Electric Power University,Jilin 132012,Jilin,China;College of Computer Science and Technology,Harbin Engineering University,Harbin 150001,Heilongjiang,China;School of Science,Northeast Electric Power University,Jilin 132012,Jilin,China)

机构地区：[1]东北电力大学自动化工程学院,吉林吉林132012 [2]哈尔滨工程大学计算机科学与技术学院,黑龙江哈尔滨150001 [3]东北电力大学理学院,吉林吉林132012

出　　处：《兵工学报》2023年第6期1588-1601,共14页Acta Armamentarii

基　　金：吉林省自然科学基金项目(20220101240JC);中国博士后科学基金项目(2021M700751)。

摘　　要：模仿生物复眼对偏振光敏感机理的偏振光导航是近年兴起的新技术,具有稳定、无源及完全自主的特性,偏振传感器的小型化、一体化使其与低成本相机、惯性测量单元等有效集成成为可能。回顾分析多传感器融合的视觉同时定位与地图创建(Simultaneous Localization and Mapping,SLAM)解决方案,梳理偏振导航传感器、天空偏振模式等最新研究进展,进而通过对辅以天空偏振光的视觉-惯性导航系统(Visual-Inertial Navigation System,VINS)的探索,进一步阐释该方案是应对视觉SLAM室外长航时导航实际的可行解。在此基础上,指出面向室外机器人操作系统、图优化框架的偏振成像仪定向观测约束模型的挑战性问题,供研究者探讨。所开发的偏振光辅助的VINS-Fusion具有扩展绝对位姿约束边的图优化技术特色,可实现全局一致的导航轨迹跟踪,为遥感测绘、军事探索等任务中的自主移动机器人导航与定位提供了创新性技术支持。The polarized light navigation that imitates the mechanism of polarized light perception of compound eyes is a newly developed technology,which is stable,passive and totally autonomous.The miniaturization and integration of polarization sensors is currently enabling its fusion with low-cost cameras,inertial measurement units(IMU),etc.The solutions for multi-sensor-based simultaneous localization and mapping(SLAM)are firstly reviewed and analyzed.The research progress in polarization navigation sensors and skylight polarization modes are summarized.Then,the polarized light-aided visual-inertial navigation system(VINS)is explored,and this solution is proved to be feasible for outdoor long-term visual SLAM.The challenging problems of polarization imager model that provides directional observation constraint for the whole navigation system are pointed out in terms of outdoor robot operation system(ROS)and graph optimization for reference.The pipeline design of polarized light-aided VINS-Fusion has the technical characteristic of expanding the absolute pose constraint edges of the graph,and further enables the globally consistent navigation trajectory tracking,providing innovative technical supports for autonomous mobile robot navigation and positioning in remote sensing,mapping and military exploration tasks.

关 键 词：视觉同时定位与地图创建 偏振光导航 天空偏振模式 多传感器融合 图优化 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置] TH76[自动化与计算机技术—控制科学与工程]