Catadioptric Projective Geometry
International Journal of Computer Vision
Bundle Adjustment - A Modern Synthesis
ICCV '99 Proceedings of the International Workshop on Vision Algorithms: Theory and Practice
Multiple View Geometry in Computer Vision
Multiple View Geometry in Computer Vision
Parallel Tracking and Mapping for Small AR Workspaces
ISMAR '07 Proceedings of the 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality
Calibration of a multi-camera rig from non-overlapping views
Proceedings of the 29th DAGM conference on Pattern recognition
Bundle adjustment for stereoscopic 3D
MIRAGE'11 Proceedings of the 5th international conference on Computer vision/computer graphics collaboration techniques
On-Board Dual-Stereo-Vision for the Navigation of an Autonomous MAV
Journal of Intelligent and Robotic Systems
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This paper presents the development and testing of a new multi-camera system designed for tracking and mapping aboard a small unmanned aerial vehicle. In order to be resistant to failure from loss of tracking, the large field of view cameras are positioned in such a way as to cover a large portion of the vehicle's surroundings. The proposed algorithm is tested indoors, and it is found that the system achieves good performance. More importantly, it is shown that the system is resistant to failure by comparing it to a system with fewer cameras that loses tracking during certain portions of the test.