A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
Catadioptric Projective Geometry
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
Catadioptric Camera Calibration Using Geometric Invariants
IEEE Transactions on Pattern Analysis and Machine Intelligence
Stereo-Based Ego-Motion Estimation Using Pixel Tracking and Iterative Closest Point
ICVS '06 Proceedings of the Fourth IEEE International Conference on Computer Vision Systems
Computer Vision Onboard UAVs for Civilian Tasks
Journal of Intelligent and Robotic Systems
Vision-based navigation through urban canyons
Journal of Field Robotics
An iterative image registration technique with an application to stereo vision
IJCAI'81 Proceedings of the 7th international joint conference on Artificial intelligence - Volume 2
Vision-based control of near-obstacle flight
Autonomous Robots
A pan-tilt camera fuzzy vision controller on an unmanned aerial vehicle
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and 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
Sub-sampling: Real-time vision for micro air vehicles
Robotics and Autonomous Systems
Journal of Intelligent and Robotic Systems
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This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Inertial Measure Unit (IMU) and gyros sensors. First, we explore the applications of the unified theory for central catadioptric cameras 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. Additionally, we show the use of a stereo system to calculate the aircraft height and to measure the UAV's motion. Finally, we present a visual tracking system based on Fuzzy controllers working in both a UAV and a camera pan and tilt platform. Every part is tested using the UAV COLIBRI platform to validate the different approaches, which include comparison of the estimated data with the inertial values measured onboard the helicopter platform and the validation of the tracking schemes on real flights.