A Theory of Single-Viewpoint Catadioptric Image Formation
International Journal of Computer Vision
A Space-Sweep Approach to True Multi-Image Matching
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Large Motion Estimation for Omnidirectional Vision
OMNIVIS '00 Proceedings of the IEEE Workshop on Omnidirectional Vision
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
An Efficient Solution to the Five-Point Relative Pose Problem
IEEE Transactions on Pattern Analysis and Machine Intelligence
MonoSLAM: Real-Time Single Camera SLAM
IEEE Transactions on Pattern Analysis and Machine Intelligence
Automatic scene structure and camera motion using a catadioptric system
Computer Vision and Image Understanding
Journal of Intelligent and Robotic Systems
Motion estimation by decoupling rotation and translation in catadioptric vision
Computer Vision and Image Understanding
Autonomous altitude estimation of a UAV using a single onboard camera
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
A vision based system for attitude estimation of UAVs
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Effective Structure-from-Motion for Hybrid Camera Systems
ICPR '10 Proceedings of the 2010 20th International Conference on Pattern Recognition
Fusion of IMU and Vision for Absolute Scale Estimation in Monocular SLAM
Journal of Intelligent and Robotic Systems
Vision Based Position Control for MAVs Using One Single Circular Landmark
Journal of Intelligent and Robotic Systems
A New Solution to the Relative Orientation Problem Using Only 3 Points and the Vertical Direction
Journal of Mathematical Imaging and Vision
International Journal of Computer Vision
Monocular-SLAM–based navigation for autonomous micro helicopters in GPS-denied environments
Journal of Field Robotics
Central catadioptric image processing with geodesic metric
Image and Vision Computing
Two Efficient Solutions for Visual Odometry Using Directional Correspondence
IEEE Transactions on Pattern Analysis and Machine Intelligence
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Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during critical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and detecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera contributes to evaluating attitude, while the perspective camera contributes to estimating the scale of the translation. The motion can be estimated robustly at the scale, thanks to the knowledge of the altitude.We propose a robust, real-time, accurate, exclusively vision-based approach with an embedded C++ implementation. Although this approach removes the need for any non-visual sensors, it can also be coupled with an Inertial Measurement Unit.