CN115060292B - Bionic navigation visual sensor extinction ratio evaluation method based on sine fitting - Google Patents
Bionic navigation visual sensor extinction ratio evaluation method based on sine fitting Download PDFInfo
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Abstract
The invention belongs to the field of polarization vision navigation sensor testing, and particularly relates to a method for evaluating an extinction ratio of a bionic navigation vision sensor based on sine fitting, which comprises the following steps of: the measured polarization visual navigation sensor is rotated for one circle for multiple times, and the rotation angles of the sensors are consistent each time; collecting a pixel response value of each pixel point after the tested polarization visual navigation sensor rotates each time; fitting a pixel response sine curve to each pixel point; calculating the distance sum of the pixel response value of each pixel point and the pixel response sine curve, comparing the distance sum with a threshold value, judging the pixel point to be an inner point if the distance sum is less than or equal to the threshold value, and otherwise, judging the pixel point to be an outer point; calculating the extinction ratio of the measured polarization visual navigation sensor by using the screened inner points; the method not only can improve the testing precision of the extinction ratio, but also can evaluate the quality of the measured polarization visual navigation sensor.
Description
Technical Field
The invention belongs to the field of polarization vision navigation sensor testing, and particularly relates to a method for evaluating an extinction ratio of a bionic navigation vision sensor based on sine fitting.
Background
Under satellite rejection conditions, it is a difficult problem to accurately acquire the position of the carrier. The traditional means at present mainly comprises the integrated navigation of sensors such as vision, inertia and radar, etc. to realize the autonomous positioning of the carrier. The remarkable navigation capability of organisms is concerned by scholars, and researches show that desert ants, arctic gulls, homing pigeons and the like can all use sky polarized light for navigation. Sky polarized light formed by the sunlight through atmospheric scattering is an excellent navigation source, and living beings can realize autonomous orientation through a sensitive polarization direction. The method provides a new idea for solving the problem of autonomous navigation, researches the absolute course of the carrier by using the novel polarized light sensor to sense the sky polarized light, and has the characteristics of interference resistance, complete autonomy and non-accumulative error.
The array type polarization vision navigation sensor developed by the inspiration of the desert ant compound eye can effectively measure the polarization information, thereby measuring the absolute course of the carrier. The array polarized light sensor generally needs to etch polarized nanometer gratings in different directions in every four pixels, and the extinction ratio is an important index for evaluating the processing technology. The traditional extinction ratio test method generally rotates a sensor to be tested under a polarized light source, divides the maximum value of the response of each pixel in the whole process by the minimum value, and counts each pixel to obtain the extinction ratio. The method can not judge whether the sensor has processing failure pixel points or not, and the extinction ratio evaluation of the sensor with the processing failure pixel points is inaccurate, so that the problem that the basic data of the whole polarized light sensor research is inaccurate is caused, and the correct shape and the authority of the whole research are seriously influenced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a device for evaluating the extinction ratio of a bionic navigation visual sensor based on sine fitting, which can judge whether the sensor has processing failure pixel points and improve the testing precision of the extinction ratio on the basis.
The invention provides a method for evaluating an extinction ratio of a bionic navigation visual sensor based on sine fitting, which comprises the following steps of:
the measured polarization visual navigation sensor is rotated for one circle for multiple times, and the rotation angles are consistent each time;
collecting a pixel response value of each pixel point after the tested polarization visual navigation sensor rotates each time;
fitting a pixel response sine curve for each pixel point according to the rotation angles and the pixel response values corresponding to the rotation angles;
calculating the pixel response value of each pixel point after each rotation and the longitudinal distance of the pixel response sine curve, summing the pixel response values to obtain a distance sum, comparing the distance sum with a threshold value, judging the pixel point as an inner point if the distance sum is less than or equal to the threshold value, and otherwise, judging the pixel point as an outer point;
calculating the extinction ratio of the measured polarization visual navigation sensor by using the screened inner points; the proportion of outliers is recorded.
Further, fitting a pixel response sine curve to each pixel point according to the rotation angles and pixel response values corresponding to the rotation angles comprises:
manufacturing a coordinate system, wherein the coordinate system takes the rotation angle as an abscissa and the pixel response value as an ordinate; recording the plurality of pixel response values as data into a coordinate system; and fitting a pixel response sine curve by taking the maximum value of the pixel response values of the pixel points as the peak of the pixel response sine curve and taking the minimum value of the pixel response values of the pixel points as the trough of the pixel response sine curve.
Further, the rotating the measured polarization visual navigation sensor for one circle in multiple times, and the rotating angles at each time are consistent to include:
the tested polarization visual navigation sensor rotates for 36 times, each time the rotation is 10 degrees, and each pixel point comprises 36 pixel response values.
Further, the rotating the measured polarization visual navigation sensor for one circle in multiple times, and the rotating angles at each time are consistent to include:
the measured polarization visual navigation sensor rotates for 12 times, each time the rotation is 30 degrees, and each pixel point comprises 12 pixel response values.
Furthermore, the rotating the measured polarization visual navigation sensor for one circle for multiple times, and the rotating angles at each time are consistent to include:
and arranging the tested polarization vision navigation sensor on a rotating platform, and driving the polarization vision navigation sensor to rotate by the rotating platform.
Furthermore, when the pixel response value of each pixel point after the measured polarization vision navigation sensor rotates every time is collected, the polarized light with high extinction ratio is emitted to the phase plane of the measured polarization vision navigation sensor.
Further, the polarized light emitting high extinction ratio is generated by the uniform light source and the linear polarizer, and the extinction ratio of the linear polarizer is higher than that of the tested polarized visual navigation sensor.
Furthermore, when the tested polarization vision navigation sensor is rotated for one circle for multiple times, the tested polarization vision navigation sensor is leveled relative to the linear polaroid, so that the phase plane of the tested polarization vision navigation sensor is parallel to the plane of the linear polaroid.
Further, the step of calculating the extinction ratio of the measured polarization vision navigation sensor by using the screened inner points comprises the following steps:
constructing an extinction ratio calculation model, wherein the extinction ratio calculation model comprises the following steps:
wherein the content of the first and second substances,
representing the extinction ratio of the ith pixel,
representing a pixel response value when the polarization direction of the ith pixel point is coincident with the main polarization component direction of light from the light source;
expressing a pixel response value when the polarization direction of the ith pixel point is vertical to the main polarization component direction of light from the light source;
to represent
And with
The average value of the minimum values of pixel response values of all pixel points of the tested polarization visual navigation sensor in the rotation process is subtracted, abs represents
-
Absolute value of (a).
The invention also provides a bionic navigation vision sensor extinction ratio evaluation device based on sine fitting, which comprises:
driving the platform: the driving platform rotates the tested polarization visual navigation sensor for a circle for multiple times, and the rotation angles of the driving platform are consistent each time;
an acquisition module: the acquisition module acquires the pixel response value of each pixel point after the tested polarization visual navigation sensor rotates each time, and each pixel point is fitted to form a pixel response sine curve according to the rotation angle and the pixel response value after each rotation;
a fitting module: the fitting module fits each pixel point to form a pixel response sine curve according to the rotation angles and the pixel response values corresponding to the rotation angles;
a screening module: the screening module calculates the pixel response value of each pixel point after each rotation and the longitudinal distance of the pixel response sine curve and sums the pixel response value and the longitudinal distance to obtain a distance sum, the distance sum is compared with a threshold value, the distance sum is smaller than or equal to the threshold value, and the pixel point is judged to be an inner point, otherwise, the pixel point is an outer point;
an extinction ratio calculation module: the extinction ratio calculation module calculates the extinction ratio of the measured polarization visual navigation sensor by using the screened inner points;
a recording module: the recording module records the proportion of the outer points.
The method has the advantages that the pixel response value of each pixel point after the tested polarization visual navigation sensor rotates every time is collected, all the pixel response values of each pixel point in one rotation circle are fitted into a pixel response sine curve, the longitudinal distance between the pixel response value of each pixel point after each rotation and the pixel response sine curve is calculated and summed to obtain the distance sum, whether each pixel point is qualified or not is judged according to the distance sum and a threshold value, the qualified pixel points are marked as inner points, subsequent extinction ratio calculation is participated, the unqualified pixel points are marked as outer points, and the subsequent extinction ratio calculation is not participated. Therefore, the problem that the traditional method brings the external point into the evaluation range to cause poor extinction ratio test precision is solved, the extinction ratio test precision when the external point exists in the tested polarization visual navigation sensor is improved, and a foundation is provided for accurate polarization navigation. Meanwhile, the production quality of the polarization vision navigation sensor to be detected can be judged according to the proportion of the outer points, the performance of the polarization vision navigation sensor can be comprehensively evaluated, the outer points can not be used in the subsequent polarization navigation, and the precision of the polarization navigation is improved.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
FIG. 2 is a schematic structural diagram of the present invention.
FIG. 3 is a diagram illustrating pixel response values of interior points in the present invention.
FIG. 4 is a diagram illustrating pixel response values of outliers in the present invention.
In the figure, 1-uniform light source; 2-a linear polarizer; 3-measured polarization visual navigation sensor; 4-rotating the platform.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the technical solutions in the embodiments of the present invention may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination of technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
As shown in the attached figures 1-4, the invention provides a method for evaluating the extinction ratio of a bionic navigation visual sensor based on sine fitting, which comprises the following steps:
the measured polarization visual navigation sensor 3 is rotated for a circle for multiple times, and the rotation angles are consistent each time;
collecting a pixel response value of each pixel point after each rotation of the tested polarization visual navigation sensor 3;
fitting a pixel response sine curve for each pixel point according to the rotation angles and pixel response values corresponding to the rotation angles;
calculating the pixel response value of each pixel point after each rotation and the longitudinal distance of the pixel response sine curve, summing the pixel response values to obtain a distance sum, comparing the distance sum with a threshold value, judging the pixel point as an inner point if the distance sum is less than or equal to the threshold value, and otherwise, judging the pixel point as an outer point;
calculating the extinction ratio of the measured polarization visual navigation sensor 3 by using the screened inner points; the proportion of outliers is recorded.
In the process of processing the nano grating of the polarization vision sensor, a certain pixel point is possibly failed due to a process, the pixel point failed in processing is changed into an outer point, a qualified pixel point is changed into an inner point, experiments show that the response of the outer point also has light and shade changes, but the response of the outer point does not conform to a sine change curve, and the outer point and the inner point are distinguished by utilizing a sine consistency response principle.
The method comprises the steps of collecting the pixel response value of each pixel point after each rotation of the measured polarization visual navigation sensor 3, fitting all the pixel response values of each pixel point in one rotation circle into a pixel response sine curve, calculating the longitudinal distance between the pixel response value of each pixel point after each rotation and the fitted pixel response sine curve, summing the longitudinal distance to obtain a distance sum, comparing the distance sum with a threshold value to judge whether each pixel point is qualified or not, marking the qualified pixel point as an inner point, participating in subsequent extinction ratio calculation, marking the unqualified pixel point as an outer point, and not participating in subsequent extinction ratio calculation. At the moment, the problem of poor extinction ratio testing precision caused by the fact that the traditional method brings the external points into the evaluation range is solved, the extinction ratio testing precision when the external points exist in the polarization visual navigation sensor to be tested is improved, and a foundation is provided for accurate polarization navigation. Meanwhile, the production quality of the tested polarization vision navigation sensor 3 can be judged according to the proportion of the outer points, the performance of the polarization vision navigation sensor can be comprehensively evaluated, the outer points can not be used in the subsequent polarization navigation, and the precision of the polarization navigation is improved. The method provided by the invention can be carried out on the original extinction ratio test structure, and is simple to operate and strong in robustness.
In addition, the invention has the advantages that the multiple pixel response values of each pixel point are conveniently, quickly and accurately obtained, so that the qualified judgment algorithm of the pixel points is simple and reliable, and the judgment accuracy of the internal and external points is ensured.
In one embodiment, fitting each pixel point to a pixel response sine curve according to the rotation angles and pixel response values corresponding to the rotation angles includes:
manufacturing a coordinate system, wherein the coordinate system takes the rotation angle as an abscissa and the pixel response value as an ordinate; inputting the plurality of pixel response values as data into a coordinate system; and fitting a pixel response sine curve by taking the maximum value of the pixel response values of the pixel points as the peak of the pixel response sine curve and taking the minimum value of the pixel response values of the pixel points as the trough of the pixel response sine curve.
Specifically, as shown in fig. 3 and 4, when fitting the pixel response sinusoid, a coordinate system is first created, in which the horizontal axis is a rotation angle, and 12 times are selected for each 30 ° rotation, and the horizontal axis is from-90 ° to 90 ° in the figure, and there is a pixel response value every 30 °. The vertical axis of the coordinate system is the value of the pixel response value, that is, the pixel response value is the size of the pixel of the shot image after the external polarized light passes through the nano-grating of each pixel, and is generally 0 to 255. After each rotation, 12 pixel response values of each pixel are obtained and recorded in a coordinate system. In the fitting process, the maximum value in the pixel response values in the coordinate system is used as the peak of the sine curve, and the minimum value in the pixel response values in the coordinate system is used as the trough of the sine curve to fit the pixel response sine curve.
Because the amplitude of the pixel response of each pixel point is different (the amplitude of the central region is large, and the amplitude of the edge region is small), different pixel response sine curves are fitted for each pixel point to carry out the point internal and external point evaluation standard, and the pixel response sine curves can be matched with the characteristics of the pixel points, so that the evaluation accuracy is ensured.
In one embodiment, the measured polarization vision navigation sensor rotates for 36 times, each time the rotation is 10 degrees, and each pixel point comprises 36 pixel response values. In this embodiment, the maximum value and the minimum value of the pixel response values are determined through the 38 pixel response values, so that the data is more accurate, the fitted pixel response sine curve is more accurate, and a stricter and accurate determination standard is provided for the qualification of the pixel point.
In another embodiment, the measured polarization visual navigation sensor rotates for 12 times, each time the measured polarization visual navigation sensor rotates for 30 degrees, each pixel point comprises 12 pixel response values, the embodiment relatively improves the testing efficiency, reduces the number of the pixel response values of each pixel point, and simultaneously ensures that the qualified judgment standard of the pixel points meets the requirement.
Specifically, the rotation of the measured polarization visual navigation sensor 3 is realized through the rotating platform 4, the measured polarization visual navigation sensor 3 is arranged on the rotating platform 4, the rotating platform 4 drives the polarization visual navigation sensor to rotate, and the rotating platform 4 needs to ensure that the rotation angles of the measured polarization visual navigation sensor 3 are consistent every time and return to the initial test state after rotating for a plurality of times.
In addition, while the pixel response value of each pixel point after each rotation of the measured polarization visual navigation sensor 3 is collected, the polarized light with high extinction ratio is emitted to the phase plane of the measured polarization visual navigation sensor 3. The polarized light emitting high extinction ratio is generated by the uniform light source 1 and the linear polaroid 2, and the extinction ratio of the linear polaroid 2 is higher than that of the polarization vision navigation sensor 3 to be measured.
When the measured polarization visual navigation sensor 3 is rotated for one circle for multiple times, the measured polarization visual navigation sensor 3 is leveled relative to the linear polaroid 2, so that the phase plane of the measured polarization visual navigation sensor 3 and the plane of the linear polaroid 2 are kept parallel to each other, the polarized light with high extinction ratio can be applied to the measured polarization visual navigation sensor 3 in the same state after the measured polarization visual navigation sensor 3 rotates every time, and the accuracy of obtaining the extinction ratio and the external point proportion is improved.
Calculating the extinction ratio of the measured polarization vision navigation sensor 3 by utilizing the screened inner points comprises the following steps:
constructing an extinction ratio calculation model, wherein the extinction ratio calculation model comprises the following steps:
wherein, the first and the second end of the pipe are connected with each other,
representing the extinction ratio of the ith pixel,
representing a pixel response value when the polarization direction of the ith pixel point is coincident with the main polarization component direction of light from the light source;
expressing a pixel response value when the polarization direction of the ith pixel point is vertical to the main polarization component direction of light from the light source;
to represent
And
the average value of the minimum values of pixel response values of all pixel points of the tested polarization visual navigation sensor in the rotation process is subtracted, abs represents
-
Absolute value of (a).
The invention also provides a bionic navigation vision sensor extinction ratio evaluation device based on sine fitting, which comprises:
driving the platform: the driving platform rotates the tested polarization visual navigation sensor 3 for a circle for multiple times, and the rotation angles are consistent each time;
an acquisition module: the acquisition module acquires the pixel response value of each pixel point after each rotation of the tested polarization visual navigation sensor 3, and fits each pixel point with a pixel response sine curve according to the rotation angle and the pixel response value after each rotation;
a fitting module: the fitting module fits each pixel point to obtain a pixel response sine curve according to the rotation angles and pixel response values corresponding to the rotation angles;
a screening module: the screening module calculates the pixel response value of each pixel point after each rotation and the longitudinal distance of the pixel response sine curve and sums the pixel response value and the longitudinal distance to obtain a distance sum, the distance sum is compared with a threshold value, the distance sum is smaller than or equal to the threshold value, and the pixel point is judged to be an inner point, otherwise, the pixel point is an outer point;
an extinction ratio calculation module: the extinction ratio calculation module calculates the extinction ratio of the measured polarization visual navigation sensor 3 by using the screened inner points;
a recording module: the recording module records the proportion of the outer points.
The specific embodiment of the invention is as follows:
the method comprises the steps of firstly, fixedly connecting a measured polarization vision navigation sensor 3 with a rotary platform 4, using a level meter to level to ensure that a phase plane of the measured polarization vision navigation sensor 3 is always horizontally parallel to a plane of a linear polaroid 2, placing the whole device in a darkroom, driving the measured polarization vision navigation sensor 3 to rotate 15 degrees by the rotary platform 4, recording current data of the measured polarization vision navigation sensor 3 after each rotation and after the imaging of the measured polarization vision navigation sensor 3 is stable, rotating 12 times until the data rotates 360 degrees, and finishing data acquisition.
Step two, a coordinate system is manufactured, the coordinate system takes the pixel response value as a vertical coordinate, the rotation angle is a horizontal coordinate (-90 degrees to 90 degrees), the pixel response value of each pixel point corresponding to the corresponding rotation angle is input into the coordinate system, 12 pixel response values are obtained, a pixel response sine curve is fitted to the maximum value of the 12 pixel response values as the wave peak of the sine curve and the minimum value as the wave trough of the sine curve, and the pixel response sine curve of each pixel point is drawn;
step three, judging whether each pixel point is qualified, calculating the longitudinal distance from the 12 pixel response values of each pixel point to the pixel response sine curve, summing the 12 distance values to obtain a distance sum, comparing the distance sum with a threshold value, and judging that the pixel point is an inner point (shown in figure 3) if the distance sum is less than or equal to the threshold value, namely the pixel point meeting the requirement; if the sum of the distances is greater than the threshold, the pixel point is determined to be an external point (as shown in fig. 4), i.e., a processing-failed pixel point.
Step four, the inner points are drawn into the range of calculating the extinction ratio, the outer points are excluded from the range of calculating the extinction ratio, and the extinction ratio of the polarized vision navigation sensor is calculated by utilizing the inner points:
when the polarization direction of a pixel coincides with the main polarization component direction of the light from the light source during the rotation of the rotary platform 4, the maximum output value of the pixel
(ii) a When the polarization direction of a pixel is perpendicular to the main polarization component direction of the light from the light source, the output minimum value of the pixel
(ii) a The extinction ratio of the pixel can then be calculated by the following equation:
calculating the extinction ratio of the ith pixel point
When the temperature of the water is higher than the set temperature,
and
average value of minimum values of all points of the camera in the rotation process is subtracted
. In the actual measurement process, the maximum value of the sine function corresponding to the pixel response sine curve fitted in the step two is the maximum value
The minimum value of the sine function is
。
And step four, dividing the total number of the outer points by the total pixel number of the polarized vision navigation sensor to obtain the proportion of the outer points.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (7)
1. A bionic navigation visual sensor extinction ratio evaluation method based on sine fitting is characterized by comprising the following steps:
the measured polarization visual navigation sensor is rotated for one circle for multiple times, and the rotation angles of the sensors are consistent each time;
collecting a pixel response value of each pixel point after the tested polarization visual navigation sensor rotates each time;
fitting a pixel response sine curve for each pixel point according to the rotation angles and pixel response values corresponding to the rotation angles;
calculating the pixel response value of each pixel point after each rotation and the longitudinal distance of the pixel response sine curve, summing the pixel response values to obtain a distance sum, comparing the distance sum with a threshold value, judging the pixel point as an inner point if the distance sum is less than or equal to the threshold value, and otherwise, judging the pixel point as an outer point;
calculating the extinction ratio of the measured polarization visual navigation sensor by using the screened inner points; recording the proportion of the outer points;
calculating the extinction ratio of the measured polarization vision navigation sensor by utilizing the screened inner points comprises the following steps:
constructing an extinction ratio calculation model, wherein the extinction ratio calculation model comprises the following steps:
wherein the content of the first and second substances,
representing the extinction ratio of the ith pixel,
representing a pixel response value when the polarization direction of the ith pixel point is coincident with the main polarization component direction of light from the light source;
indicating the polarization direction of the ith pixel point and the light sourcePixel response values when the main polarization component direction of the light is vertical;
to represent
And
the average value of the minimum values of pixel response values of all pixel points of the tested polarization visual navigation sensor in the rotation process is subtracted, abs represents
-
Absolute value of (d);
fitting a pixel response sine curve to each pixel point according to the plurality of rotation angles and pixel response values corresponding to the plurality of rotation angles comprises:
manufacturing a coordinate system, wherein the coordinate system takes the rotation angle as an abscissa and the pixel response value as an ordinate; inputting the plurality of pixel response values as data into a coordinate system; and fitting a pixel response sine curve by taking the maximum value of the pixel response values of the pixel points as the peak of the pixel response sine curve and taking the minimum value of the pixel response values of the pixel points as the trough of the pixel response sine curve.
2. The method for evaluating the extinction ratio of the bionic navigation visual sensor based on the sine fitting as claimed in claim 1, wherein the step of rotating the tested polarization visual navigation sensor for one circle for a plurality of times, and the step of rotating the tested polarization visual navigation sensor for the same angle each time comprises:
the tested polarization vision navigation sensor rotates for 36 times totally, each time the sensor rotates for 10 degrees, and each pixel point comprises 36 pixel response values.
3. The method for evaluating the extinction ratio of the bionic navigation visual sensor based on the sine fitting as claimed in claim 1, wherein the step of rotating the tested polarization visual navigation sensor for one circle for a plurality of times, and the step of rotating the tested polarization visual navigation sensor for the same angle each time comprises:
the measured polarization visual navigation sensor rotates for 12 times, each time the rotation is 30 degrees, and each pixel point comprises 12 pixel response values.
4. The method for evaluating the extinction ratio of the bionic navigation visual sensor based on the sine fitting as claimed in any one of claims 1 to 3, wherein the tested polarized visual navigation sensor is rotated for one circle for a plurality of times, and the rotation angles are consistent each time, comprising:
and arranging the tested polarization vision navigation sensor on a rotating platform, and driving the polarization vision navigation sensor to rotate by the rotating platform.
5. The method as claimed in claim 4, wherein the pixel response value of each pixel point after each rotation of the polarization visual navigation sensor is collected, and simultaneously the polarized light with high extinction ratio is emitted to the phase plane of the polarization visual navigation sensor.
6. The method for evaluating the extinction ratio of the bionic navigation visual sensor based on the sine fitting of claim 5, wherein the polarized light emitting high extinction ratio is generated by a uniform light source and a linear polarizer, and the extinction ratio of the linear polarizer is higher than that of the tested polarized visual navigation sensor.
7. The method as claimed in claim 6, wherein the measured polarization visual navigation sensor is leveled with respect to the linear polarizer when the measured polarization visual navigation sensor is rotated for one cycle for a plurality of times, so that the phase plane of the measured polarization visual navigation sensor and the plane of the linear polarizer are kept parallel to each other.
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| JP2019144237A (en) * | 2018-02-09 | 2019-08-29 | シャンハイ マイクロ エレクトロニクス イクイプメント（グループ）カンパニー リミティド | Polarization measuring device, method for measuring polarization, and method for aligning light |
| JP2021019260A (en) * | 2019-07-19 | 2021-02-15 | キヤノン株式会社 | Image sensor and image pickup apparatus having the same |
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