An optical navigation sensor for micro aerial vehicles

Authors:
Christel-Loic Tisse;Hugh Durrant-Whyte;R. Andrew Hicks
Affiliations:
ARC Centre of Excellence for Autonomous Systems, The University of Sydney, The Rose Street Building J04, Sydney, 2006 NSW, Australia;ARC Centre of Excellence for Autonomous Systems, The University of Sydney, The Rose Street Building J04, Sydney, 2006 NSW, Australia;Department of Mathematics, Drexel University, 3141 Chestnut Street, Philadelphia, PA 19104-2875, USA
Venue:
Computer Vision and Image Understanding
Year:
2007

Citing 4
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Abstract

This paper describes a catadioptric microsensor for multidirectional imaging and 3D egomotion computation. Inspired by the wide viewing angle of insects' compound eyes, we show how to extract egomotion information from spherical images. We demonstrate how reflective surfaces can be used for building a compact, multidirectional eye that enables to collect video from 60% of the full sphere. Some experiments performed on synthetic images (using a ray-tracing environment) are presented to validate the concept. We have called the resulting imaging system SICONS (SIngle Chip Optical Navigation Sensor). SICONS is intended for application in micro unmanned aerial vehicles (micro-UAVs) to develop their perceptive, visual guidance and motive abilities to move within the real world in the same way an insect does.