Inspiredbytheexcellentnavigationalbehaviorof animals, this paper presents a bionic autonomous navigation (bio-navi)systembyusingastereocameraandapolarization navigation sensor (POLNS). A topological graph consisting ofnodesandedgesformsthecoreofthesystem,whichissimilar to the simultaneous localization and mapping (SLAM). Like most of the SLAM approaches, in the bio-navi system, a node contains pose (position and attitude) and visual template information while an edge represents a constraint betweentwonodes.ThedifferenceisthatthePOLNSisintroducedintothesystem.TheyawangleobtainedfromPOLNS is attached to a node as a new property and also forms a new edgewhichrestrictsthedirectionoftherelatednode.Besides, anabsoluteplaceconstraintedgeisaddedtothecurrentnode whenrecognizingapriorknownplace.Toimprovetheaccuracyandrobustnessoftheplacerecognition,aPOLNS-assist loopclosuredetectionmethodispresentedandtocorrectthe poseerrorofconstructednodes,animprovedgraphoptimization algorithm is derived in detail which is able to make full useofalltheconstraints.Todemonstratetheperformanceof the system, an outdoor vehicle test has been done, and the results show its effectiveness and feasibility.

EB00000003517K

Available

• A bionic autonomous navigation system by using polarization navigation sensor and stereo camera