Vision-Sensor-Assisted Probabilistic Localization Method for Indoor Environment.

Among the numerous indoor localization methods, Light-Detection-and-Ranging (LiDAR)-based probabilistic algorithms have been extensively applied to indoor localization due to their real-time performance and high accuracy. Nevertheless, these methods are challenged in symmetrical environments when tackling global localization and the robot kidnapping problem. In this paper, a novel hybrid method that combines visual and probabilistic localization results is proposed. Augmented Monte Carlo Localization (AMCL) is improved for position tracking continually. LiDAR-based measurements' uncertainty is evaluated to incorporate discrete visual-based results; therefore, a better diversity of the particle can be maintained. The robot kidnapping problem can be detected and solved by preventing premature convergence of the particle filter. Extensive experiments were implemented to validate the robustness and accuracy performance. Meanwhile, the localization error was reduced from 30 mm to 9 mm during a 600 m tour.

Light depolarization based on dispersion degree of polarization.

The dispersion degree of polarization, a new definition of the depolarization degree of partially polarized beams, is first proposed, to the best of our knowledge, to measure the performance of fiber depolarizers. First, the description of the polarization based on the Poincaré sphere is introduced. Then, the modified Delaunay triangulation algorithm is introduced, and the calculation formula of the dispersion degree of polarization is given based on this algorithm. The experimental device was set up, and the dispersion degree of polarization of the depolarized light after the fiber depolarizer was measured to be 47.3%. The components and proportions of polarization in the depolarized light were also obtained. Compared with the degree of polarization, the dispersion degree of polarization can quantitatively analyze the light polarization evaluation in the time dimension and provide a numerical reference for improving the depolarizer, thus increasing the fiber sensor's accuracy.