Visual Inertial Navigation System Aided by Polarized Light

Jinkui Chu; Hanpei Hu; Zhenhua Wan; Jinshan Li

doi:10.3788/LOP213411

[1] Duan G W, He Q S, Liu W. Development status and trend of navigation system abroad[J]. Electronic Technology & Software Engineering, 29-31(2021).

[2] [M]. GNSS与惯性及多传感器组合导航系统原理. 练军想, 译(2015).

Groves P D, Groves Paul D.[M]. Principles of GNSS, inertial, and multisensor integrated navigation systems. Liang J X, Transl(2015).

[3] Gao X, Zhang T, Liu Y[M]. Lecture 14 of visual SLAM: from theory to practice(2017).

[4] Wu J Q, Song X G. Review on development of simultaneous localization and mapping technology[J]. Journal of Shandong University (Engineering Science), 51, 16-31(2021).

[5] Song W, Liang J, Zhang H Q et al. Laser navigation and mapping based on building environment classification[J]. Laser & Optoelectronics Progress, 58, 1404001(2021).

[6] Cadena C, Carlone L, Carrillo H et al. Past, present, and future of simultaneous localization and mapping: toward the robust-perception age[J]. IEEE Transactions on Robotics, 32, 1309-1332(2016).

[7] Mourikis A I, Roumeliotis S I. A multi-state constraint Kalman filter for vision-aided inertial navigation[C], 3565-3572(2007).

[8] Li M Y, Mourikis A I. High-precision, consistent EKF-based visual-inertial odometry[J]. The International Journal of Robotics Research, 32, 690-711(2013).

[9] Huang G P, Mourikis A I, Roumeliotis S I. A quadratic-complexity observability-constrained unscented Kalman filter for SLAM[J]. IEEE Transactions on Robotics, 29, 1226-1243(2013).

[10] Castellanos J A, Martinez-Cantin R, Tardós J D et al. Robocentric map joining: improving the consistency of EKF-SLAM[J]. Robotics and Autonomous Systems, 55, 21-29(2007).

[11] Lupton T, Sukkarieh S. Visual-inertial-aided navigation for high-dynamic motion in built environments without initial conditions[J]. IEEE Transactions on Robotics, 28, 61-76(2012).

[12] Forster C, Carlone L, Dellaert F et al. On-manifold preintegration for real-time visual: inertial odometry[J]. IEEE Transactions on Robotics, 33, 1-21(2017).

[13] Qin T, Li P L, Shen S J. VINS-mono: a robust and versatile monocular visual-inertial state estimator[J]. IEEE Transactions on Robotics, 34, 1004-1020(2018).

[14] Zhu Z F, Yang J T, Wang C G et al. Solar autonomous-positioning method based on Rayleigh atmosphere polarization pattern and its implementation[J]. Laser & Optoelectronics Progress, 54, 022901(2017).

[15] Chu J K, Shi C, Wang Y L et al. Design of polarized light real-time positioning system[J]. Chinese Journal of Lasers, 45, 0310002(2018).

[16] Chu J K, Tian L B, Cheng H Y et al. Simulation of polarization distribution model under wavy water surfaces dominated by skylight[J]. Acta Optica Sinica, 40, 2001002(2020).

[17] Chu J K, Wang H Q, Chen W J et al. Application of a novel polarization sensor to mobile robot navigation[C], 3763-3768(2009).

[18] Chu J K, Wu J, Li J S et al. Application of polarization sensor in quadrotor helicopter[J]. Acta Electronica Sinica, 48, 198-203(2020).

[19] Wang Y J, Hu X P, Lian J X et al. Mechanisms of bionic positioning and orientation based on polarization vision and corresponding experiments[J]. Optics and Precision Engineering, 24, 2109-2116(2016).

[20] Wang D B. The research of SLAM algorithm based on the sky polarized light[D](2014).

[21] Chu J K, Zhang H X, Wang Y L et al. Design and construction of autonomous real-time position prototype based on multi-polarized skylight[J]. Optics and Precision Engineering, 25, 312-318(2017).

[22] Wang Z G, Guo H, Ao L H. IMU calibration using Vicon system[J]. Bulletin of Surveying and Mapping, 121-125(2021).