基于局部大气修复的偏振导航方法

doi:10.12382/bgxb.2021.0702

摘要/Abstract

摘要： 仿生偏振导航是一种利用天空光的偏振分布模式信息进行导航的方法，具有抗干扰性能好、误差不随时间积累等优点，受到了广泛的关注。但是其在图像采集过程中视野容易受到遮挡，导致图像信息丢失进而严重影响导航精度。针对上述问题，提出一种基于局部大气修复的偏振导航方法，建立基于图像相似块偏移量统计特性的修复模型。通过计算出天空中每一个图像块对应的偏移量直方图，得到每个像素点对应的偏移量，根据偏移量进行图像的修复。对修复后的天空图像进行处理，解算天空偏振分布模式，算出太阳方位角，实现导航的目的。仿真与实验结果表明：该算法能适应视野内部分遮挡环境，去除视野中的随机遮挡，恢复图像细节信息，部分遮挡条件下航向角误差降低至1°以内，比未修复前精度提高了约61%。

关键词: 偏振成像, 仿生导航, 图像修复, 相似块偏移量

Abstract: Bionic polarized light navigation is a method of navigation that uses skylight polarization patterns. Due to its strong anti-interference ability and high navigation accuracy, it has attracted extensive attention. However, the field of view is easily blocked during image acquisition, resulting in the loss of image information, which will seriously affect the navigation accuracy. To solve the problem, a polarization navigation algorithm based on local atmosphere image restoration is proposed, and an image inpainting model based on the offsets of similar patches is established. By calculating the nearest neighbor offset histogram of each patch in the image, the offset of each pixel can be obtained, and the image repaired accordingly. Using the restored images, solar azimuth can be determined by detecting the polarization distribution pattern of the atmosphere in the zenith region to achieve the purpose of navigation. The results of simulation and experiments show that the algorithm can adapt to a partially blocked view, remove random occlusion and improve image details. With partial occlusion, the heading angle error is reduced to about 1°, and the accuracy is improved by about 61%.

Key words: polarizationimaging, bionicnavigation, imageinpainting, offsetsofsimilarpatches

中图分类号:

V324.2

李宇阳，王霞，赵家碧，李磊磊，陈家斌. 基于局部大气修复的偏振导航方法[J]. 兵工学报, 2022, 43(12): 3062-3069.

LI Yuyang, WANG Xia, ZHAO Jiabi, LI Leilei, CHEN Jiabin. Polarization Navigation Algorithm Based on Local Atmosphere Image Restoration[J]. Acta Armamentarii, 2022, 43(12): 3062-3069.

参考文献

［1］王霞, 左一凡, 李磊磊, 等.基于自适应纹理复杂度的仿生视觉导航方法研究［J］.导航定位与授时, 2020, 7(4):35-41.
WANG X, ZUO Y F, LI L L, et al.Bionic visual navigation method based on adaptive texture complexity［J］. Navigation Positioning & Timing, 2020, 7(4):35-41.(in Chinese)
［2］黄德鸣, 程禄.惯性导航系统［M］.北京:国防工业出版社, 1986.
HUANG D M, CHENG L. Inertial navigation system［M］.Beijing:National Defense Industry Press, 1986.(in Chinese)
［3］ MLLER M, WEHNER R.Path integration in desert ants, Cataglyphis fortis［J］.Proceedings of the National Academy of Sciences of the United States of America, 1988, 85(14):5287.
［4］田柳, 高隽, 范之国, 等.基于大气偏振模式分布规律的导航方向角计算方法［J］.电子学报, 2012, 40(1): 141-146.
TIAN L, GAO J, FAN Z G, et al. Calculation method of navigation direction angle based on the distribution law of atmospheric polarization mode［J］.Journal of Electronics, 2012, 40(1): 141-146. (in Chinese)
［5］孙晓兵, 洪津, 乔延利.大气散射辐射偏振特性测量研究［J］.量子电子学报, 2005, 22(1):111-115.
SUN X B, HONG J, QIAO Y L. Investigation of measurements of polarized properties of atmospheric scattering radiation［J］.Journal of Quantum Electronic, 2005, 22(1):111-115. (in Chinese)
［6］王晨光, 张楠, 李大林, 等.利用全天域大气偏振检测的航向角解算［J］.光电工程, 2015, 42(12):60-66.
WANG C G, ZHANG N, LI D L, et al. Calculation of heading angle using all-sky atmosphere polarization［J］. Opto-Electronic Engineering, 2015, 42(12):60-66.(in Chinese)
［7］宋燕, 范之国, 王大千, 等.利用大气偏振模式“∞”字形特征获取太阳位置的方法研究［J］.仪器仪表学报, 2018, 39(5):48-56.
SONG Y, FAN Z G, WANG D Q, et al. Obtaining solar position by using “∞” shape characteristic of atmospheric polarization pattern［J］.Chinese Journal of Scientific Instrument, 2018, 39(5): 48-56. (in Chinese)
［8］蔡弘, 张然, 关乐, 等.晴朗天气下全天空域偏振定向方法［J］.机电工程技术, 2021, 50(9):10-13.
CAI H, ZHANG R, GUAN L, et al. Polarization orientation method for whole sky area in sunny weather［J］. Mechanical & Electrical Engineering Technology, 2021, 50(9):10-13. (in Chinese)
［9］ DUPEYROUX J, VIOLLET S, SERRES J R. Polarized skylight-based heading measurements:a bio-inspired approach［J］.Journal of the Royal Society Interface, 2019, 16(150):20180878.
［10］ DUPEYROUX J, VIOLLET S, SERRES J R.An ant-inspired celestial compass applied to autonomous outdoor robot navigation［J］. Robotics and Autonomous Systems, 2019, 117: 40-56.
［11］ GUAN L, ZHAI L Y, CAI H, et al. Study on displacement estimation in low illumination environment through polarized contrast-enhanced optical flow method for polarization navigation applications［J］.Optik, 2020, 210: 164513.
［12］ XU L, ZHENG S C, JIA J Y．Unnatural L0 sparse representation for natural image deblurring［C］∥ Proceedings of the 2013 IEEE Conference on Computer Vision and Pattern Recognition Workshops. Washington, DC, US: IEEE Computer Society, 2013: 1107-1114．
［13］李俊山, 杨亚威, 朱子江, 等.基于自然图像块相似性和稀疏先验性的图像复原［J］.计算机应用, 2017, 37(8):2319-2323.
LI J S, YANG Y W, ZHU Z J, et al. Image restoration based on natural patch likelihood and sparse prior［J］. Journal of Computer Applications, 2017, 37(8):2319-2323. (in Chinese)
［14］ HE K M, SUN J.Image completion approaches using the statistics of similar patches［J］.IEEE Transactions on Pattern Analysis and Machine Intelligence, 2014, 36(12): 2423-2435.
［15］ CANNY J. A computational approach to edge detection［J］. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1986, 8(6): 679-698.
［16］ BARNES C. Patchmatch: a randomized correspondence algorithm for structural image editing［J］. Proceeding of the ACM Siggraph, 2009, 28(3):24.
［17］ BOYKOV Y, VEKSLER O, ZABIH R.Fast approximate energy minimization via graph cuts［J］. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2002, 23(11):1222-1239.
［18］蒋睿, 王霞, 左一凡, 等.基于局部大气偏振特性的仿生导航方法［J］.航空学报, 2020, 41(增刊2):152-160.
JIANG R, WANG X, ZUO Y F, et al. Research on bionic navigation based on local atmospheric polarization［J］.Acta Aeronautica et Astronautica Sinic, 2020, 41(S2):152-160. (in Chinese)
［19］张娜, 褚金奎, 赵开春, 等.基于严格耦合波理论的亚波长金属光栅偏振器设计［J］.传感技术学报, 2006, 19(5): 1739- 1743.
ZHANG N, CHU J K, ZHAO K C, et al. The design of the subwavelength wire-grid polarizers based on rigorous couple-wave theory［J］.Chinese Journal of Sensors and Actuators, 2006, 19(5): 1739-1743. (in Chinese)
［20］褚金奎, 蹇慧君, 刘泽, 等.阵列式偏振导航传感器及其鲁棒性算法实现［J］.光学精密工程, 2018, 26(8):2067-2073.
CHU J K, JIAN H J, LIU Z, et al.Array polarization sensor for navigation and its robust algorithm［J］.Optics and Precision Engineering, 2018, 26(8):2067-2073.(in Chinese)
［21］ TELEA A. An image inpainting technique based on the fast marching method［J］.Journal of Graphics Tools, 2004, 9(1):23- 24.

[1]	陈雄锋, 阮驰. 多参数最优重构水下偏振成像复原方法[J]. 兵工学报, 2023, 44(7): 2122-2131.
[2]	丁伯圣, 张睿恒, 徐立新, 陈慧敏. 基于灰度补偿和特征融合的沙尘图像修复方法[J]. 兵工学报, 2023, 44(10): 3115-3126.