A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Catadioptric Projective Geometry
International Journal of Computer Vision
Epipolar Geometry for Central Catadioptric Cameras
International Journal of Computer Vision
Geometric Properties of Central Catadioptric Line Images
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part IV
A Unifying Theory for Central Panoramic Systems and Practical Applications
ECCV '00 Proceedings of the 6th European Conference on Computer Vision-Part II
Catadioptric Camera Calibration Using Geometric Invariants
IEEE Transactions on Pattern Analysis and Machine Intelligence
Springer Handbook of Robotics
Computer Vision Onboard UAVs for Civilian Tasks
Journal of Intelligent and Robotic Systems
Appearance-Guided Monocular Omnidirectional Visual Odometry for Outdoor Ground Vehicles
IEEE Transactions on Robotics
Vision Based UAV Attitude Estimation: Progress and Insights
Journal of Intelligent and Robotic Systems
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Horizon Profile Detection for Attitude Determination
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
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This paper presents an aircraft attitude and heading estimator using catadioptric images as a principal sensor for UAV or as a redundant system for IMU (Inertial Measure Unit) and gyro sensors. First, we explain how the unified theory for central catadioptric cameras is used for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV's attitude. Then, we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Finally the tests and results using the UAV COLIBRI platform and the validation of them in real flights are presented, comparing the estimated data with the inertial values measured on board.