Combining omnidirectional vision with polarization vision for robot navigation
type: Dataset
description: Polarization is the phenomenon that describes the oscillations orientations of the light waves which are restricted in direction. Polarized light has multiple uses in the animal kingdom ranging from foraging, defense and communication to orientation and navigation. Chapter (1) briefly covers some important aspects of polarization and explains our research problem. We are aiming to use a polarimetric-catadioptric sensor since there are many applications which can benefit from such combination in computer vision and robotics specially robot orientation (attitude estimation) and navigation applications. Chapter (2) mainly covers the state of art of visual based attitude estimation.As the unpolarized sunlight enters the Earth’s atmosphere, it is Rayleigh-scattered by air, and it becomes partially linearly polarized. This skylight polarization provides a signiﬁcant clue to understanding the environment. Its state conveys the information for obtaining the sun orientation. Robot navigation, sensor planning, and many other applications may beneﬁt from using this navigation clue. Chapter (3) covers the state of art in capturing the skylight polarization patterns using omnidirectional sensors (e.g fisheye and catadioptric sensors). It also explains the skylight polarization characteristics and gives a new theoretical derivation of the skylight angle of polarization pattern. Our aim is to obtain an omnidirectional 360 view combined with polarization characteristics. Hence, this work is based on catadioptric sensors which are composed of reflective surfaces and lenses. Usually the reflective surface is metallic and hence the incident skylight polarization state, which is mostly partially linearly polarized, is changed to be elliptically polarized after reflection. Given the measured reflected polarization state, we want to obtain the incident polarization state. Chapter (4) proposes a method to measure the light polarization parameters using a catadioptric sensor. The possibili…
landing page: https://theses.hal.science/tel-00866581
identifier: NNT: 2012DIJOS064
keyword: bioinspiration
keyword: infoeu-reposemanticsdoctoralthesis
keyword: infoinfo-ohcomputer-science-csother-csoh
keyword: navigation
keyword: omnidirectional
keyword: orientation
keyword: pas-de-mots-cles-en-francais
keyword: physcondcm-genphysics-physicscondensed-matter-cond-matother-cond-matother
keyword: polarization
keyword: robot
keyword: skylight
keyword: spiotherengineering-sciences-physicsother
keyword: stokes
keyword: theses
keyword: vision
issued: 2026-05-09T14:20:33.100789
modified: 2026-05-09T14:20:33.100794
language: en
contact point: Organization
  fn: CCSD

test_moissonnage_selune
type: Agent

Combining omnidirectional vision with polarization vision for robot navigation
type: Distribution
format: HTML
access URL: https://theses.hal.science/tel-00866581
issued: 2026-05-09T14:20:33.102357
modified: 2026-05-09T14:20:33.084871