Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm
Abstract
:1. Introduction
2. Fundamentals of Instrument Description
2.1. Principle of the System
2.2. Structure of the System
3. Calibration
3.1. Calibration of Camera Parameters
3.2. Calibration of Inconsistency of Cameras
3.3. Correction
4. Polarization Navigation Algorithm
5. Experimental Results
5.1. Calibration Results
Camera A | Camera B | Camera C | |
---|---|---|---|
Intrinsic parameters | |||
Principal point | (616.68, 510.45) | (651.25, 560.96) | (643.76, 525.58) |
Focal length | (1622.43, 1621.89) | (1619.19, 1619.91) | (1616.81, 1616.49) |
Distortion coefficient | [−0.104 0.125] | [−0.091 0.059] | [−0.092 0.032] |
Extrinsic parameters | |||
[0 0 0] | [−0.014 0.013 −0.002] | [−0.014 0.0150.002] |
5.2. Orientation Experiment
Group | 1 | 2 | 3 | 4 | 5 | 6 |
---|---|---|---|---|---|---|
Index | Data | |||||
1 | 10.480 | 25.150 | 39.738 | 53.545 | 68.600 | 84.390 |
2 | 10.520 | 25.325 | 39.394 | 53.535 | 68.707 | 84.198 |
3 | 10.413 | 25.350 | 39.621 | 53.442 | 68.779 | 84.080 |
4 | 10.692 | 25.325 | 39.629 | 53.532 | 68.750 | 83.950 |
5 | 10.660 | 25.467 | 39.358 | 53.250 | 68.850 | 83.839 |
6 | 10.717 | 25.375 | 39.439 | 53.324 | 69.040 | 84.105 |
7 | 10.600 | 24.950 | 39.369 | 53.448 | 68.792 | 83.867 |
8 | 10.600 | 25.517 | 39.621 | 53.313 | 68.667 | 84.242 |
9 | 10.717 | 25.167 | 39.425 | 53.455 | 68.808 | 84.023 |
10 | 10.530 | 25.183 | 39.550 | 53.332 | 68.575 | 84.077 |
11 | 10.660 | 25.400 | 39.421 | 53.362 | 67.653 | 84.050 |
12 | 10.575 | 25.183 | 39.330 | 53.593 | 68.418 | 84.183 |
13 | 10.640 | 25.325 | 38.983 | 53.513 | 68.428 | 84.196 |
14 | 10.520 | 25.350 | 39.075 | 53.543 | 68.535 | 84.215 |
Statistics | ||||||
Mean | 10.595 | 25.291 | 39.425 | 53.442 | 68.614 | 84.101 |
Σ | 0.089 | 0.143 | 0.201 | 0.104 | 0.313 | 0.146 |
6. Conclusions and Outlooks
Group | 7 | 8 | 9 | 10 | 11 | 12 |
---|---|---|---|---|---|---|
Index | Data | |||||
1 | 99.691 | 115.710 | 129.540 | 141.860 | 156.760 | 171.980 |
2 | 99.733 | 115.680 | 129.710 | 141.810 | 156.640 | 172.070 |
3 | 99.743 | 115.520 | 129.770 | 141.970 | 156.710 | 171.850 |
4 | 99.811 | 115.670 | 129.630 | 141.790 | 156.820 | 171.840 |
5 | 99.871 | 115.560 | 129.590 | 141.690 | 156.780 | 171.920 |
6 | 99.647 | 115.640 | 129.530 | 141.780 | 156.760 | 171.880 |
7 | 99.797 | 115.790 | 129.660 | 141.830 | 156.600 | 172.040 |
8 | 99.629 | 115.810 | 129.560 | 141.820 | 156.810 | 172.060 |
9 | 99.546 | 115.990 | 129.540 | 141.850 | 156.530 | 172.020 |
10 | 99.664 | 115.630 | 129.800 | 141.790 | 156.580 | 171.920 |
11 | 99.648 | 115.750 | 129.490 | 141.730 | 156.440 | 171.910 |
12 | 99.763 | 115.760 | 129.800 | 141.900 | 156.660 | 171.960 |
13 | 99.586 | 115.680 | 129.650 | 141.850 | 156.720 | 171.750 |
14 | 99.708 | 115.780 | 129.990 | 141.870 | 156.640 | 171.820 |
Statistics | ||||||
Mean | 99.703 | 115.712 | 129.661 | 141.824 | 156.675 | 171.930 |
Σ | 0.087 | 0.112 | 0.134 | 0.067 | 0.107 | 0.093 |
Acknowledgments
Author Contributions
Conflicts of Interest
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Lu, H.; Zhao, K.; Wang, X.; You, Z.; Huang, K. Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm. Sensors 2016, 16, 144. https://doi.org/10.3390/s16020144
Lu H, Zhao K, Wang X, You Z, Huang K. Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm. Sensors. 2016; 16(2):144. https://doi.org/10.3390/s16020144
Chicago/Turabian StyleLu, Hao, Kaichun Zhao, Xiaochu Wang, Zheng You, and Kaoli Huang. 2016. "Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm" Sensors 16, no. 2: 144. https://doi.org/10.3390/s16020144
APA StyleLu, H., Zhao, K., Wang, X., You, Z., & Huang, K. (2016). Real-time Imaging Orientation Determination System to Verify Imaging Polarization Navigation Algorithm. Sensors, 16(2), 144. https://doi.org/10.3390/s16020144