WO2018165027A1 - Procédé et système de détection et de cartographie basés sur une polarisation - Google Patents

Procédé et système de détection et de cartographie basés sur une polarisation Download PDF

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Publication number
WO2018165027A1
WO2018165027A1 PCT/US2018/020927 US2018020927W WO2018165027A1 WO 2018165027 A1 WO2018165027 A1 WO 2018165027A1 US 2018020927 W US2018020927 W US 2018020927W WO 2018165027 A1 WO2018165027 A1 WO 2018165027A1
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Prior art keywords
images
polarimeter
image
polarization
polarized
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PCT/US2018/020927
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English (en)
Inventor
Todd Michael Aycock
David B. Chenault
Jonathan B. Hanks
John S. Harchanko
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Polaris Sensor Technologies, Inc.
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Priority claimed from US15/450,948 external-priority patent/US10395113B2/en
Application filed by Polaris Sensor Technologies, Inc. filed Critical Polaris Sensor Technologies, Inc.
Priority to EP18763860.6A priority Critical patent/EP3631391A4/fr
Priority to AU2018230648A priority patent/AU2018230648A1/en
Publication of WO2018165027A1 publication Critical patent/WO2018165027A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/147—Details of sensors, e.g. sensor lenses
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Definitions

  • a method using polarimetry for detecting aerial objects is disclosed herein.
  • the described method is not tied to any one specific polarimeter sensor architecture, and thus the method described pertains to all polarimetric sensors capable of detecting the critical polarimetric signature.
  • the method comprises recording raw image data of an area using a polarimeter to obtain polarized images of the area.
  • the images are then corrected for non-uniformity, optical distortion, and registration in accordance with the procedure necessitated by the sensor's architecture.
  • IR and polarization data products are computed, and the resultant data products are converted to a multidimensional data set for exploitation.
  • Contrast enhancement algorithms are applied to the multidimensional imagery to form enhanced object images.
  • the enhanced object images may then be displayed to a user, and/or an annunciator may announce the presence of an object.
  • FIG. 1 is a block diagram illustrating a system in accordance with an exemplary embodiment of the present disclosure.
  • FIG. 2 depicts an exemplary polarimeter and signal processing unit as depicted in Fig.
  • FIG. 3 is a flowchart depicting exemplary architecture and functionality of the system logic in accordance with an exemplary embodiment of the disclosure.
  • Fig. 4a depicts a visible image of a roadway at night.
  • Fig. 4b is a thermal image of the same roadway at night.
  • Fig. 4c depicts a polarization image of the roadway obtained with the system and method according to an exemplary embodiment of the present disclosure.
  • Fig. 5a is a visible image of a roadway during the daytime.
  • Fig. 5b is a thermal image of the roadway of Fig. 5a.
  • Fig. 5c is a polarization image of the roadway of Fig. 5a obtained with the system and method according to an exemplary embodiment of the present disclosure.
  • Fig. 6a is a visible image of a roadway that has a median and sidewalk, shown at night.
  • Fig. 6b is a thermal image of the roadway of Fig. 6a, also at night.
  • Fig. 6c is a polarization image of the roadway of Fig. 6a obtained with the system and method according to an exemplary embodiment of the present disclosure
  • Fig. 7a is a visible image of a dirt road depicting exemplary obstacles on the road.
  • Fig. 7b is a thermal image of the road of Fig. 7a.
  • Fig. 7c is a contrast enhanced thermal image of the road of Fig. 7a.
  • Fig. 7d is a polarization image of the road of Fig. 7a.
  • Fig. 7e is a ColorFuse image of the road of Fig. 7d.
  • Fig. 8a is a visible image of a dirt road depicting exemplary obstacles the road at night.
  • Fig. 8b is a thermal image of the road Fig. 8a.
  • Fig. 8c is a contrast enhanced thermal image of the road of Fig. 8a.
  • Fig. 8d is a polarization image of the road of Fig. 8a.
  • Fig. 8e is a ColorFuse image of the roadway of Fig. 8d.
  • Fig. 9a depicts a visible image of train tracks.
  • Fig. 9b is a thermal image of the train tracks of Fig. 9a.
  • Fig. 9c is a polarization image of the train tracks of Fig. 9a.
  • Fig. 10a is a Stokes vector image So of a maritime scene showing fishermen in a boat.
  • Fig. 10b is a ColorFuse image of the scene of Fig. 10a.
  • Fig. 10c is a Stokes vector images Si of the maritime of Fig. 10a.
  • Fig. lOd is a Stokes vector images S2 of the maritime of Fig. 10a.
  • Fig. lOe is a DoLP image of the maritime scene of Fig. 10a.
  • FIG. 11 illustrates a system in accordance with an exemplary embodiment of the present disclosure for detecting aerial objects.
  • Fig. 12 is a Google map depicting the sun-airplane-sensor geometry during a test of the system of Fig. 11 to detect an airplane in cloudy conditions.
  • Fig. 13 depicts the position of the airplane in relation to the polarimeter in the test of
  • Fig. 14 depicts the Aerosol and Rayleigh optical depth spectra for the test of Fig. 12.
  • Fig. 15 depicts the AERONET-retrieved aerosol volume size distribution for the test of Fig. 12.
  • Fig. 16 depicts the SO images for the test of Fig. 12.
  • Fig. 17 depicts the AoP images for the test of Fig. 12.
  • Fig. 18 depicts the DoLP images for the test of Fig. 12.
  • Fig. 19 depicts a zoomed-in photograph of the airplane in the DoLP image of Fig. 18.
  • Fig. 20 depicts the modeled maximum DoLP spectrum for the test of Fig. 12.
  • Fig. 21 is a Google Maps image showing the sun-airplane-sensor geometry in a test to detect an airplane in smoky conditions.
  • Fig. 22 is a photograph of the polarimeter pointing at the airplane hidden within the smoke layer in the test of Fig. 21.
  • Fig. 23 depicts the aerosol and Rayleigh optical depth spectra of the test of Fig. 21.
  • Fig. 24 depicts the AERONET-Retrieved aerosol volume size distribution of the test of Fig. 21.
  • Fig. 25 depicts the SO images for the test of Fig. 21.
  • Fig. 26 depicts the AoP images for the test of Fig. 21.
  • Fig. 27 depicts the DoLP images for the test of Fig. 21.
  • Fig. 28 depicts a zoomed-in photograph of the airplane in the DoLP image of Fig. 21.
  • Fig. 29 depicts the modeled maximum DoLP for the test of Fig. 21.
  • Fig. 30 depicts a system used in the test to detect a hobby aircraft.
  • Fig. 31 depicts the SO polarization imagery collected of a low contrast target in a test of the system of Fig. 30.
  • Fig. 31b depicts the SI polarization imagery collected of a low contrast target in a test of the system of Fig. 30.
  • Fig. 31c depicts the S2 polarization imagery collected of a low contrast target in a test of the system of Fig. 30.
  • Fig. 32 depicts the imagery from the color camera in the test of the system of Fig. 30.
  • Fig. 33 is a zoomed-in view of the image of Fig. 32.
  • Fig. 34 is a data fusion image of the three images in Fig. 3 la-3 lc.
  • Fig. 35 depicts an example of the target (airplane) having both positive (fuselage) and negative background contrast (wings) when observed by the color camera.
  • Fig. 36 is a zoomed-in view of the image of Fig. 35.
  • Fig. 37 is a data fusion image of the S0-S2 images (not shown) for this test DETAILED DESCRIPTION
  • Fig. 1 illustrates a system 100 in accordance with an exemplary embodiment of the present disclosure.
  • the system 100 comprises a polarimeter 101 mounted on a vehicle 103 and a signal processing unit 107, which collect and analyze images of a surface 111 for detection and annunciation of an object 102.
  • Exemplary objects 102 shown in Fig. 1 include an obstacle 104, water or mud puddle 105, and a roadway edge 106.
  • the term "object” may refer to any object, pathway defect or area of interest, including in some embodiments humans or other animals.
  • the obstacle 104 and the puddle 105 are objects the vehicle would want to avoid.
  • the roadway edge 106 is an object that the vehicle would want to know the location of, in order to stay on a roadway.
  • the objects 102 are objects to be avoided or located in order to safely navigate the vehicle 103.
  • the objects 102 are items in need of location, for example, humans during search and rescue operations, as further discussed herein.
  • the polarimeter 101 comprises a polarizing imaging device for recording polarized images, such as a digital camera or thermal imager that collects images.
  • the vehicle 103 may be an automobile, watercraft, aircraft, or any navigable vehicle, or a human on foot.
  • the polarimeter 101 collects raw image data of the roadway environment consisting of the surface 111 (a roadway, for example), and objects 102 such as the obstacle 104, the water or mud puddle 105, and the roadway edge 106.
  • the polarimeter 101 transmits raw image data to the signal processing unit 107, which processes the data as further discussed herein.
  • the processed data is then displayed to the operator on display 109 or detection is annunciated on an annunciator 110, as further discussed herein.
  • Fig. 1 shows the polarimeter 101, the signal processing unit 107, the display 109, and annunciator 110 as separate items, the polarimeter 101 and signal processing unit 107 are packaged into one device in certain embodiments and placed on the vehicle 103 such that the polarimeter has a view of the roadway, and with the display 109 and annunciator 110 packaged together and placed inside the vehicle.
  • the polarimeter 101 sends raw image data (not shown) to the signal processing unit 107 over a network or communication channel 108 and processed data sent to the display 109 and annunciator 110.
  • the signal processing unit 107 may be any suitable computer known in the art or future-developed.
  • the signal processing unit 107 receives the raw image data, filters the data, and analyzes the data as discussed further herein to provide enhanced imagery and detections and annunciations.
  • the network 108 may be of any type network or networks known in the art or future-developed, such as a simple communications cable, the internet backbone, Ethernet, Wifi, WiMax, broadband over power line, coaxial cable, and the like.
  • the network 108 may be any combination of hardware, software, or both. Further, the network 108 could be resident in a sensor (not shown) housing both the polarimeter 101 and the signal processing unit 107.
  • the vehicle 103 comprises manned or unmanned (autonomous) agricultural equipment in a farming environment and the objects 102 include obstacles along farm roads or in fields.
  • the vehicle 103 comprises manned or unmanned (autonomous) vessels that operate on waterways or oceans and the objects 102 are floating in the water.
  • the vehicle 103 comprises a person or vessel conducting search and rescue activities and objects 102 are victims of an incident involving bodies of water.
  • the vehicle 103 comprises manned or unmanned (autonomous) aircraft and objects 102 are those found in an airfield environment, including runways and the grassy areas in and around runways.
  • the vehicle 103 comprises railroad equipment and the objects 102 are those found in the environment around railroad tracks and switches.
  • Fig. 2 depicts an exemplary polarimeter 101 and signal processing unit 107 according to an embodiment of the present disclosure.
  • the polarimeter 101 comprises an objective imaging lens 1201, a filter array 1203, and a focal plane array 1202.
  • the objective imaging lens 1201 comprises a lens pointed at the surface 111 (Fig. 1).
  • the filter array 1203 filters the images received from the objective imaging lens system 1201.
  • the focal plane array 1202 comprises an array of light sensing pixels.
  • the signal processing unit 107 comprises image processing logic 120 and system data 121.
  • image processing logic 120 and system data 121 are shown as stored in memory 1123.
  • the image processing logic 120 and system data 121 may be implemented in hardware, software, or a combination of hardware and software.
  • the signal processing unit 107 also comprises a processor 130, which comprises a digital processor or other type of circuitry configured to run the image processing logic 120 by processing the image processing logic 120, as applicable.
  • the processor 130 communicates to and drives the other elements within the signal processing unit 107 via a local interface 1124, which can include one or more buses.
  • a local interface 1124 can include one or more buses.
  • the image processing logic 120 and the system data 121 can be stored and transported on any computer-readable medium for use by or in connection with logic circuitry, a processor, an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.
  • a "computer-readable medium” can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
  • the computer readable medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium.
  • the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
  • Exemplary system data 121 is depicted comprises:
  • Object detection algorithms applied to contrast enhanced image data in step 1006 of the method 1000 (Fig. 3).
  • Image data applied to the display 109 and annunciator 110 in step 1007 of the method 1000 (Fig. 3).
  • the image processing logic 120 executes the processes described herein with respect to Fig. 3.
  • an external interface device 126 connects to and communicates with the display 109 and annunciator 110.
  • the external interface device 126 may also communicate with or comprise an input device, for example, a keyboard, a switch, a mouse, a touchscreen, and/or other type of interface, which can be used to input data from a user of the system 100.
  • the external interface device 126 may also or alternatively communicate with or comprise a personal digital assistant (PDA), computer tablet device, laptop, portable or non-portable computer, cellular or mobile phone, or the like.
  • PDA personal digital assistant
  • the external interface device 126 may also or alternatively communicate with or comprise a non-personal computer, e.g., a server, embedded computer, field programmable gate array (FPGA), microprocessor, or the like.
  • a non-personal computer e.g., a server, embedded computer, field programmable gate array (FPGA), microprocessor, or the like.
  • the external interface device 126 is shown as part of the signal processing unit 107 in the exemplary embodiment of Fig. 2. In other embodiments, the external interface device 126 may be outside of the signal processing unit 107.
  • the display device 109 may consist of a tv, led screen, monitor or any electronic device that conveys image data resulting from the method 1000 or is attached to a personal digital assistant (PDA), computer tablet device, laptop, portable or non-portable computer, cellular or mobile phone, or the like.
  • PDA personal digital assistant
  • the annunciator device 110 can consist of a warning buzzer, bell, flashing light, or any other auditory or visual or tactile means to warn the operator of the detection of an object or obstacle.
  • autonomous action may be taken based upon the objects 102
  • the vehicle 103 (Fig. 1) may automatically be directed to avoid objects 102.
  • the external interface device 126 may interface with the vehicle 103 such that the processor 130 may direct the vehicle to swerve around an object 102.
  • the annunciator 110 may not be required.
  • a Global Positioning System (“GPS”) device may interface with the external interface device 126 to provide a position of the objects 102 detected.
  • GPS Global Positioning System
  • the display 109 and annunciator 110 are shown as separate, but the annunciator 110 may be combined with the display 109, and in another embodiments, annunciation could take the form of highlighted boxes or regions or another means used to highlight the object as part of the image data display.
  • an indicator box e.g., a red box (not shown)
  • Fig. 3 is a flowchart depicting exemplary architecture and functionality of the image processing logic 120 (Fig. 2) in accordance with a method 1000.
  • the polarimeter 101 captures an image of a roadway scene from a vehicle on a roadway 111 (Fig. 1) and sends raw image data to the signal processing unit 107 (Fig. 1).
  • step 1002 the signal processing unit 107 (Fig. 1) corrects imager non-uniformity of the images received from the polarimeter 101.
  • imager non-uniformity include fixed pattern lines in the image, noisy pixels, bad pixels, bright spots, and the like. Algorithms that are known in the art may be used for correcting the imager non-uniformity.
  • step 1002 is not performed because the imager non-uniformity does not require correction.
  • the signal processing unit 107 removes image distortion from the image data.
  • image distortion is warping at the edges of the image caused by the objective imaging lens system. Algorithms that are known in the art may be used for correcting image distortion. Registration corrections may also be performed in step 1002, using methods known in the art.
  • step 1003 non-polarized intensity and polarization data products are computed.
  • the non-polarized intensity is generally taken to be the intensity as would be measured by a conventional imager. Intensity is used as the general term for and could be replaced with radiance, irradiance, or radiant intensity.
  • Stokes parameters (So, Si, S 2 ) are calculated by weighted subtraction of the polarized image obtained in step 1002.
  • the LWTR imaging polarimeter measures both a radiance image and a polarization image.
  • a radiance image is a standard image whereby each pixel in the image is a measure of the radiance, typically expressed in Watts/cm2-sr, reflected or emitted from that corresponding pixel area of the scene.
  • Standard photographs and thermal images are radiance images, simply mappings of the radiance distribution emitted or reflected from the scene.
  • a polarization image is a mapping of the polarization state distribution across the image. The polarization state distribution is typically expressed in terms of a Stokes image.
  • / 0 is the radiance that is linearly polarized in a direction making an angle of 0 degrees with the horizontal plane
  • / 90 is radiance linearly polarized in a direction making an angle of 90 degrees with the horizontal plane.
  • / 45 and / 135 are radiance values of linearly polarized light making an angle of 45° and 135° with respect to the horizontal plane.
  • I R and I L are radiance values for right and left circularly polarized light.
  • right and left circularly polarized light is not necessary and the imaging polarimeter does not need to measure these states of polarization. For this reason, the Stokes vectors considered will be limited to the first 3 elements which express linearly polarized light only,
  • equation (2) Another useful form of equation (2) is a normalized form of the equation given by
  • the polarization state emitted or reflected from the roadway surface, surfaces to the side of the road, and objects or surfaces in the road depends on a number of factors including the angle of emission, the surface temperature of the surface, the micro-roughness of the surface (texture), the complex refractive index of the surface and the background temperature of the surrounding environment.
  • the invention here primarily makes use of the fact that the polarization state of light emitted and reflected from the surfaces and objects is a function of angle of emission and different surface texture.
  • the emissivity of an object is determined from Kirchoff s radiation law.
  • the most familiar form of Kirchoff s law is gives the emissivity of a surface ⁇ in terms of the reflectance r, given by
  • e s (0) l - r s (0) (6)
  • the p-state indicates the plane of emission for light that is linearly polarized in a plane that contains the surface normal and the line of sight to the camera. For example, if the camera is looking down at a horizontal surface, the p-state of polarization would appear vertically polarized.
  • the s-state of polarization is perpendicular to the p-state. Note that the temperature and wavelength dependence are suppressed in equations 4-6.
  • ⁇ is the angle that the plane of incidence makes with the horizontal plane
  • Equation 8 can be written out more explicitly as
  • P(0) does not explicitly depend on the angle that the plane of incidence makes with the horizontal plane.
  • the angle is critical to determine the orientation of plane of incidence and ultimately the azimuthal angle of the surface normal.
  • the angle ⁇ can be determined from the following angle,
  • the angle ⁇ can be determined a number of ways.
  • a method for determining ⁇ and ⁇ from a normalized Stokes image (Equation 3) are known in the art.
  • a degree of linear polarization (DoLP) image is computed from the Stokes images.
  • a DoLP image is useful for providing contrast for roadway surface and objects in the road, and can be calculated as follows:
  • DoLP (3 ⁇ 4A o ) 2 + (3 ⁇ 4/s 0 ) 2 (11) or
  • step 1004 may use polarization images derived from any combination of So, Si, S 2 , or S3 and is not limited to DoLP.
  • the DoLP image is one available image used to view polarization contrast in an image.
  • Another alternative image to view polarization content is a "ColorFuse" image that is generated by mapping the radiance, DoLP, and orientation images to a color map.
  • Persons with skill in the art makes the following mapping of polarization data to a hue-saturation-value representation for color:
  • This representation enables display of all optical information (radiance and polarization) in a single image and provides a means to show both radiometric and polarization contrast enhancing understanding of the scene. In many cases where polarization contrast is strong, this representation provides scene context for the surfaces or objects that are polarized. Those experienced in the art can imagine other ways of doing this.
  • the ColorFuse is one embodiment of multidimensional representation that can be produced in step 1004. Those knowledgeable in the art can conceive similar mappings. For one example, the DoLP information may be emphasized when radiance values are low.
  • the polarization state emitted or reflected from the surface of objects or surfaces in the imaged scene depends on a number of factors including the angle of emission, the surface temperature of the surface, the micro-roughness or texture of the surface, and the complex refractive index of the surface.
  • the contrast of surfaces and objects in the scene due to polarization are dependent on the geometry and the material or surface properties of the objects in the scene. While surface temperature contributes to polarization signature contrast, temperature differences of objects in the scene are not necessary in order for there to be polarization contrast. This is important because frequently many objects in an imaged scene can be at the same or very similar temperatures and hence show little contrast.
  • step 1005 contrast enhancing algorithms that are known in the art are applied to the multidimensional image from step 1004.
  • the multi-dimensional data exploits the polarization data to significantly enhance the information content in a scene.
  • Non-restrictive examples include global mean, variance, and higher order moment analysis, Principal Component Analysis, or Linear Discriminate Analysis, computation of the statistics of the multidimensional data as a whole and then computation of local values based on a kernel convolved with the image as a whole and then normalized by global statistics of the scene.
  • step 1006 object detection algorithms that are known in the art are applied to the contrast enhanced data from step 1005.
  • object detection algorithms include setting manually or automatically a threshold value based on the image statistics, segmenting portions of the image based on the contrast enhancements, edge detection, and morphological properties.
  • step 1007 detected objects may then be annunciated to the user through visual or auditory means.
  • Non-restrictive examples includes bells, buzzers or lights to draw the operator's attention to the display, or indications on the display such as distinctive colors or boxes in the region of the obstacle or surface.
  • enhanced contrast images may be displayed to the user (not shown).
  • steps 1003, 1004, 1005, and 1006 are used in combinations that omit one or more of the steps.
  • the polarization image data, or the multidimensional (ColorFuse) data may be viewed by humans for object detection, and no algorithms are applied.
  • Algorithms that exploit a combination of image features extracted from a LWIR imaging polarimeter can be used to detect potential obstacles or roadway edges. In the case of train tracks, algorithms could be used to confirm continuity of the tracks automatically. Once potential noteworthy features are detected, they can be automatically highlighted for the operator, and a warning can be given through some annunciation mechanism (buzzer or light). Algorithms could also potentially be used to exploit the orientation information to help improve understanding of the image such as segmentation or shape recognition.
  • the enhanced contrast enables the mapping of features in the imaged scene that, through operator perception or automated detection and warning, improves the safety of the operator, or in the case of autonomously operated equipment such as agricultural equipment, provides autonomous obstacle avoidance to the steering or navigation systems.
  • improved detection and recognition of obstacles will allow the operator to maneuver the vehicle (or vessel) to avoid obstacles.
  • Improved detection and perception of roadway edges will reduce chances of inadvertently leaving the roadway. This is especially true at night when the operator's vision is limited by darkness.
  • the system and method of the present disclosure adds a polarimetric signature to the information that was previously attainable by an IR camera, i.e., temporal, special and IR signature.
  • a polarimetric signature can be used simultaneously to classify/categorize objects detected.
  • the classification/categorization of the detected objects can influence evasive action to be taken by a vehicle. For example, a detected object in a roadway may be classified as an obstacle that needs to be avoided, rather than a pothole the vehicle is capable of driving over.
  • multiple objects may be independently and simultaneously classified into separate groups or sub-groups based on their temporal, spatial, IR, and/or polarimetric signatures in accordance with given criteria.
  • Fig. 4a depicts a visible image of a roadway 400 at night.
  • Fig. 4b is a thermal image of the same roadway 400 at night. Note that in Fig. 4b, the roadway 400 and surrounding terrain have nearly the same temperature and hence there is little contrast between the roadway 400 and a shoulder 401 of the road in the thermal image.
  • Fig. 4c depicts a polarization image of the roadway 400 obtained with the system and method according to an exemplary embodiment of the present disclosure. The polarization image in 4c shows strong contrast of the road 400 and the shoulder 401 is easily discernable. A white stripe 402 that parallels the roadway 400 on the left hand side is a sidewalk. The polarization image in 4c was obtained with no external light source. [00107] Fig.
  • Fig. 5a is a visible image of a roadway 500 during the daytime.
  • Fig. 5b is a thermal image of the roadway 500 of Fig. 5a.
  • the roadway 500 and other scene elements show confusing contrast in the thermal image of Fig 5b.
  • Fig. 5c is a polarization image of the roadway 500 of Fig. 5a obtained with the system and method according to an exemplary embodiment of the present disclosure.
  • the polarization image of Fig. 5c shows strong contrast of only the roadway 500.
  • a sidewalk 501 that parallels the road on the left hand side and a driveway 502 on the right are easily discernable in the polarization image of Fig. 5c.
  • the sidewalk 501 and the driveway 502 are not easily perceptible in the thermal image of Fig. 5b.
  • Fig. 6a is visible image of a roadway 600 that has a median 601 and sidewalk 602, shown at night.
  • Fig. 6b is a thermal image of the roadway 600 of Fig. 6a, also at night.
  • the roadway and surrounding terrain have similar temperatures and hence there is weak contrast between the roadway and the media of the road in the thermal image.
  • Fig. 6c is a polarization image of the roadway 600 of Fig. 6a obtained with the system and method according to an exemplary embodiment of the present disclosure.
  • the polarization image of Fig. 6c shows strong contrast of the roadway 600.
  • the sidewalk 602 that parallels the road on the right hand side and the median 601 are easily discernable in the polarization image of Fig. 6c.
  • the sidewalk 602 and the median 601 are not easily perceptible in the thermal image of Fig. 6b.
  • Fig. 7a is a visible image of a dirt road 700 depicting exemplary obstacles 701 on a road 700.
  • the obstacles 701 comprise wood planks in the image.
  • Fig. 7b is a thermal image of the road 700 of Fig. 7a. In the image of Fig. 7b, the obstacles 701 are easier to discern than in the visible image of Fig. 7a.
  • Fig. 7c is a contrast enhanced thermal image of the road 700 of Fig. 7a.
  • Fig. 7d is a polarization image of the road 700 of Fig. 7a. The obstacle 701 in this image is easily discerned, though the polarization image does not provide much context to the obstacle in relation to the road 700.
  • Fig. 7e is a ColorFuse image of the roadway of Fig. 7d. The ColorFuse image shows both thermal and polarimetric data in a single image, and provides the greatest contrast.
  • Fig. 8a is a visible image of a dirt road 800 depicting exemplary obstacles 801 on a road 800 at night.
  • the obstacles 801 comprise wet dirt and mud in the image. These are potential hazards which might immobilize some ground vehicles.
  • Fig. 8b is a thermal image of the road 800 of Fig. 8a.
  • Fig. 8c is a contrast enhanced thermal image of the road 800 of Fig. 8a.
  • Fig. 8d is a polarization image of the road 800 of Fig. 8a.
  • the obstacles 801 in this image are easily discerned, though the polarization image does not provide much context to the obstacles in relation to the road 800.
  • Fig. 8e is a ColorFuse image of the roadway of Fig. 8d.
  • the ColorFuse image shows both thermal and polarimetric data in a single image, and provides the greatest contrast.
  • the ColorFuse image of Fig. 8e shows how the combination of thermal and polarization data products can be used to provide a good representation of road surfaces.
  • Fig. 9a is a visible image of train tracks 900 depicting exemplary segmentation of the rails in a railroad environment.
  • Fig. 9b is a thermal image, in which identification of the tracks is difficult due to different temperatures of the objects in areas adjacent to the tracks.
  • Fig. 9c is a polarimetric image of the train tracks 900 of Fig. 9a, and show good delineation of the tracks.
  • an LWIR polarimeter can be used to enhance contrast between obstacles that break the surface of the water and the water background. This can be particularly effective since objects floating in water tend to have the same temperature as the water they're floating in and can hence be difficult to detect through the radiometric (thermal) image.
  • Fig. 10a, 10c, and lOd are Stokes vector images So, Si and S 2 , respectively, of a maritime scene showing fishermen in a boat.
  • Fig. lOe is a DoLP image of the same scene.
  • Fig. 10b is a ColorFuse image of the scene. The ColorFuse image shows improvement in contrast for obstacle avoidance for vessels or advantage for search and rescue.
  • polarization is used to detect flying aircraft, including those that are at sufficiently long range that they are poorly resolved. Detecting aerial objects is useful for collision avoidance, sense and avoid, see and avoid, air traffic control, air space deconfliction, Unmanned Aerial System (UAS) or Unmanned Aerial Vehicle (UAV) detection, drone detection, UAS threat detection, counter UAS, and the like.
  • UAS Unmanned Aerial System
  • UAV Unmanned Aerial Vehicle
  • the band of maximum polarization also changes position in the sky, always remaining oriented in a plane at 90° from the sun's location.
  • DoP degree of polarization
  • DoP DoP max ( ⁇ ), (13) where ⁇ is the scattering angle defined by incident and scattered rays and DoPmax is the maximum degree of polarization (which is 1 for the theoretical Rayleigh scattering case).
  • Skylight can also become partially polarized or can change its polarization state when reflected from smooth surfaces.
  • the Fresnel reflection equations (14 and 15 below) describe the fractional reflected intensity for the polarization components in the direction parallel (Eq. 14) and perpendicular (Eq. 15) to the plane of incidence (plane containing the surface normal and the incident and reflected rays), cos 6>;-n t cos ⁇ 2
  • m and m are the indices of refraction for the incident and transmitting media, respectively, and 6> ; is the angle of incidence on the material and 6t is the angle of transmission into the material.
  • the DoLP expresses the fraction of intensity that is linearly polarized.
  • a perfectly polarized wave has a DoLP of 1 and a randomly polarized wave has a DoLP of 0.
  • the AoP is used to represent the angle of the major axis of the polarization ellipse with respect to the x axis [1].
  • the polarizer rotates at a spin rate of 2700 degrees per second while taking images at 0°, 45°, 90°, and 135° in order to grab the frames needed to obtain the three Stokes parameters.
  • the spin rate may be between the range of six (6) degrees per second to 6500 degrees per second. Since the polarimeter is stationary while capturing the airplane as it moves through the polarimeter' s field of view (FOV), pixel smearing occurs and it was determined that the airplane moves approximately 2.5 pixels over the four frames. The number of pixels smeared varies according to
  • Vp is the speed of the plane
  • R is the range distance from the airplane to the imager
  • Nh P is the number of horizontal pixels
  • FOVh is the field of view of the imager in the horizontal direction.
  • the speed of the airplane was found using flightaware.com, which tracks the airplane' s speed throughout its flight route.
  • the airplane-to-imager range was found using Google maps.
  • Fig. 11 illustrates a system 1100 in accordance with an exemplary embodiment of the present disclosure for detecting aerial objects 1102.
  • the system 1100 comprises a rotating polarimeter 1101 and a signal processing unit 1107, which collect and analyze images for detection and annunciation of an aerial object 1102.
  • Exemplary aerial objects 1102 may be manned or unmanned (autonomous) aircraft (such as drones), or the like.
  • the polarimeter 1101 comprises a specialized polarizing imaging device for recording polarized images, such as a digital camera or thermal imager that collects images.
  • the polarimeter 1101 is a short range infrared (SWIR) and medium range (MWTR) imaging polarimeter.
  • SWIR short range infrared
  • MWTR medium range
  • the polarimeter 1101 in this embodiment includes a rotating polarizer that rotates (at a spin rate of 2700 degrees per second in one embodiment) while taking images at 0°, 45°, 90°, and 135° relative to the polarimeter.
  • Other embodiments employ a polarizer that does not rotate.
  • the polarimeter 1101 collects raw image data and transmits the raw image data to the signal processing unit 1107, which processes the data as further discussed herein. The processed data is then displayed to the operator on display 1109 or detection is annunciated on an annunciator 1110, as discussed herein with respect to the annunciator 110 of Fig. 1.
  • Fig. 11 shows the polarimeter 1101, the signal processing unit 1107, the display 1109, and annunciator 1110 as separate items, the polarimeter 1101 and signal processing unit 1107 are packaged into one device in certain embodiments.
  • the polarimeter 1101 sends raw image data (not shown) to the signal processing unit 1107 over a network or communication channel 1108 and processed data is sent to the display 1109 and annunciator 1110.
  • the signal processing unit 1107 receives the raw image data, filters the data, and analyzes the data as discussed further herein to provide enhanced imagery and detections and annunciations.
  • the network 1108 may be of any type network or networks known in the art or future-developed, such as a simple communications cable, the internet backbone, Ethernet, Wifi, WiMax, broadband over power line, coaxial cable, and the like.
  • the network 108 may be any combination of hardware, software, or both.
  • the network 1108 could be resident in a sensor (not shown) housing both the polarimeter 1101 and the signal processing unit 1 107.
  • the signal processing unit 1 107 is substantially similar to the signal processing unit 107 discussed herein with respect to Figs. 1 and 2.
  • the method for detecting aerial objects is substantially similar to the method for detecting objects in a roadway as discussed herein with respect to Fig. 3.
  • the system 1 100 measured the polarization signatures of airplanes and the surrounding skylight from 1.5 to 1.8 ⁇ in the short-wave infrared (SWIR).
  • SWIR short-wave infrared
  • An airplane flying in a clear region of partly cloudy sky was found to be 69% polarized at an elevation angle of 13° with respect to the horizon and the surrounding skylight was 4-8% polarized (maximum skylight DoLP was found to be 7-14% at an elevation angle of 51°).
  • the DoLP for both airplane and surrounding sky pixels increased as the airplane neared the band of maximum sky polarization.
  • the airplane can be less polarized than its surrounding skylight when there is heavy smoke present. In such a case, the airplane was 30-38% polarized at an elevation angle of 17°, while the surrounding skylight was approximately 40% polarized (maximum skylight DoLP was 40-55%) at an elevation angle of 34°). In both situations the airplane was most consistently observed in DoLP images rather than SO or AoP images.
  • Fig. 12 is a Google map depicting the sun-airplane-sensor geometry.
  • the blue symbol 1201 represents the position of the airplane (not shown) and the yellow dot 1202 represents the position of the sun (not shown) with respect to the polarimeter (not shown) that was located at Montana State University marked by the red dot 1103.
  • the yellow crescent-shaped area 1204 represents the sun's path throughout the day.
  • Fig. 14 depicts the Aerosol and Rayleigh optical depth spectra for the test.
  • the aerosol optical depth was relatively low and it was higher than the Rayleigh optical depth between 1.5 and 1.8 ⁇ .
  • Fig. 15 depicts the AERO ET-retrieved aerosol volume size distribution.
  • the aerosol radii were between 1.0 and 10 ⁇ , with a dominant mode centered at approximately 5 ⁇ .
  • FIG. 16 depicts the SO and Fig. 17 depicts the AoP images.
  • the AoP image of Fig. 17 indicates the dark areas are likely thin clouds 1701 throughout the otherwise clear-appearing portions of the SO image of Fig. 16.
  • Select clouds normally liquid clouds, display AoP oriented 90° from clear-sky AoP.
  • scattered light oriented parallel to the scattering plane dominates the perpendicularly polarized Rayleigh-scattered light between the instrument and the cloud.
  • the AoP image in Figure 17 suggests that liquid clouds were behind the airplane (even though they are not obvious in the SO image) and they scattered light parallel to the scattering plane, thus causing the AoP signatures to rotate 90° from the clear sky AoP.
  • the white regions of the AoP image indicate areas where the skylight dominates the cloud-scattered light.
  • Fig. 18 depicts the DoLP image showing the airplane 1102
  • Fig. 19 depicts a zoomed-in photograph of the airplane 1 102 of Fig. 18.
  • the airplane 1102 was observed to be between cloud layers at 13° above the horizon and the maximum polarization of the airplane was found to be 69%.
  • the strong polarization at the nose of the airplane is likely an artifact resulting from the airplane motion.
  • the body of the airplane shows polarization ranging from 20% to 60% that is not likely to suffer from this artifact since that part of the airplane subtends two or more pixels.
  • the surrounding skylight was found to be between 4-8% at angles of 11.7° to 17.6° with respect to the horizon.
  • Fig. 20 depicts the modeled maximum DoLP spectrum.
  • Fig. 21 is a Google Maps image showing the sun-airplane- sensor geometry.
  • the blue symbol 2101 represents the position of the airplane (not shown) and the yellow dot 2103 represents the sun (not shown) with respect to the polarimeter location at Montana State University, represented by the red dot 2102.
  • the airplane was slightly northwest of the polarimeter (red dot 2102), flying southward at an elevation angle of 16.9°.
  • the polarimeter was located on the roof of Cobleigh Hall on the Montana State University campus.
  • Fig. 22 is a photograph of the polarimeter 1101 pointing at the airplane (not shown) hidden within the smoke layer.
  • the aerosol and Rayleigh optical depth spectra, along with the AERO ET-Retrieved aerosol volume size distribution, are given in Figs. 23 and 24, respectively.
  • the aerosol optical depth was greater than the Rayleigh optical depth from 1.5 to 1.8 ⁇ and the radii of the aerosol particles were between 0.1 and 1 ⁇ .
  • the aerosol optical depth was high from wildfire smoke present in the Gallatin Valley and the aerosol optical depth stayed higher than the Rayleigh optical depth over the entire optical spectrum.
  • Figs. 25 and 26 The SO and AoP images are shown in Figs. 25 and 26, respectively.
  • Fig. 27 is the DoLP image showing the airplane 1101.
  • Fig. 28 is a zoomed-in image of the airplane 1101 of Fig. 27.
  • the airplane was 16.9° above the horizon and the maximum polarization of the airplane was 38%.
  • the tip of the airplane was more polarized than the tail and the entire airplane was slightly less polarized than the surrounding skylight, which was found to be 40%.
  • the surrounding skylight DoLP As the airplane approached the band of maximum polarization (34° from the horizon), the surrounding skylight DoLP also increased, as expected.
  • the SOS model predicted the maximum skylight DoLP in the 1.5-1.8 ⁇ band to vary in the range of 40-55% at an elevation angle of 34°.
  • Fig. 29 depicts the modeled maximum DoLP. Note that this case illustrates an interesting situation where surprisingly high skylight DoLP is observed despite a very high aerosol optical depth. High SWIR skylight polarization has been observed in the presence of high aerosol optical depth when the aerosol particles are small.
  • the video data included the airplane against both sky and mountain backgrounds.
  • the sky was clear with the ambient temperature ranging between 40°F and 50°F during the test.
  • the background sky temperature was lower than -40°F which was the minimum scale of Fluke 62 Infrared Thermometer used for the measurement.
  • the sky temperature measurement was taken at the azimuth and elevation of the airspace utilized by model aircraft.
  • Fig. 30 depicts a system 3000 used in the test of the hobby aircraft 3002.
  • Three cameras were used in this test: a long-wave infrared (LWIR) Rotating Polarizer Polarimeter 1101, a color CCD camera 3003, and a division of aperture polarimeter 3004.
  • the LWIR polarimeter 1101 comprises a rotating polarizer that takes sequential imagery with the polarizer orientation varying between video frames.
  • the polarimeter 3004 is a visible polarimeter employing a division of aperture approach in which each sub aperture collects a different orientation of polarization.
  • the color CCD camera 3003 tracks the airplane during flight using conventional video photography.
  • the polarimeters 1101 and 3004 and camera 3003 were co-mounted next two one another on a pan/tilt unit (not shown) on tripod for the test.
  • the polarimeters 1101 and 3004, camera 3003, pan/tilt unit (PTU), tripod, and all associated computers and control hardware were mounted in a truck to facilitate quick relocation between flight runs.
  • the video feed from the color CCD was connected to a dedicated processor 3005 that processed the video data and provided tracking inputs to the PTU based on the output of several algorithms.
  • the user can take control of the PTU at any time should the computer lose track. This occurred several times during the test.
  • Polarimeter operators one for each polarimeter, sat inside the truck where two displays 3006 and 3007 were located; one each dedicated to the polarimeters 1101 and 3004, respectively.
  • the sensor operators controlled the various sensor parameters such as gain, integration time, frame rate, etc., as well as the video data collection from each sensor.
  • Fig. 3 la-3 lc depict the calibrated polarization imagery (SO, SI, and S2, respectively) collected by the polarimeter 3004 when the color camera 3003 encountered low target contrast.
  • Fig. 32 depicts the imagery from the color camera 3003
  • Fig. 33 is a zoomed-in view of the image of Fig. 32.
  • Fig. 34 is a data fusion of the three images in Fig. 31a-31c. Note the significant improvement in target (airplane) background contrast in the data fusion image of Fig. 34 over the standard color image of Figs. 32 and 33.
  • target could switch between positive and negative contrast in quick succession. Furthermore, portions of the target could have negative contrast, while the remained presented positive contrast.
  • positive contrast is defined as a bright target against a darker background
  • negative contrast is a dark target against a brighter background.
  • Fig. 35 depicts a color image of the target (airplane) having both positive (fuselage) and negative background contrast (wings) when observed by the color camera.
  • a standard tracking algorithm would therefore select either the fuselage or the wings, but not both. In either case, the tracking algorithm would not be able to utilize all the pixels subtended by the target.
  • Fig. 36 is a zoomed-in view of the image of Fig. 35.
  • Fig. 37 is a data fusion image of the S0-S2 images (not shown) for this test. Note that the data fusion image provides much starker contrast than the color image. The data fusion algorithm presents positive contrast for the entire target. Utilizing this approach, a standard tracking algorithms would only have to account for positive contrast and would have a greater number of pixels to track; increasing probability of maintaining target lock.
  • Polarimeters can take a number of forms in terms of their operation including rotating element, division of aperture, division of focal plane (pixelated polarization filters), and channeled polarimeters, to name a few.
  • Polarization based aerial detection is possible through any of these approaches.
  • polarization based detection is possible throughout the optical spectrum to include the LWIR, MWIR, SWIR and visible portions of the spectrum. The examples given here are not exclusive.
  • the exemplary tests disclosed herein to detect aerial vehicles had the polarimeters located on the ground, in other embodiments the polarimeters are themselves located in aerial vehicles, and are detecting other aerial vehicles.

Abstract

L'invention concerne un procédé de détection et de suivi d'objets aériens et de véhicules aériens, qui consiste à enregistrer des données d'image brutes à l'aide d'un polarimètre pour obtenir des images polarisées du ciel. La non-uniformité, la distorsion optique et la superposition des images sont ensuite corrigées. Des produits de données IR et de polarisation sont calculés, puis les produits de données obtenus sont convertis en un ensemble de données multidimensionnel en vue d'une exploitation. Des algorithmes d'amélioration de contraste sont appliqués sur l'imagerie multidimensionnelle pour former des images d'objet améliorées. Les images d'objet améliorées peuvent ensuite être affichées à l'attention d'un utilisateur, et/ou un avertisseur peut avertir de la présence d'un objet.
PCT/US2018/020927 2017-03-06 2018-03-05 Procédé et système de détection et de cartographie basés sur une polarisation WO2018165027A1 (fr)

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