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Design And Analysis Of A Single-Camera Omnistereo Sensor For Quadrotor Micro Aerial Vehicles (Mavs), Carlos Jaramillo, Roberto G. Valenti, Ling Guo, Jizhong Xiao
Design And Analysis Of A Single-Camera Omnistereo Sensor For Quadrotor Micro Aerial Vehicles (Mavs), Carlos Jaramillo, Roberto G. Valenti, Ling Guo, Jizhong Xiao
Publications and Research
We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo sensor employs a monocular camera that is co-axially aligned with a pair of hyperboloidal mirrors (a vertically-folded catadioptric configuration). We show that this arrangement provides a compact solution for omnidirectional 3D perception while mounted on top of propeller-based MAVs (not capable of large payloads). The theoretical single viewpoint (SVP) constraint helps us derive analytical solutions for the sensor’s projective geometry and generate SVP-compliant panoramic images to compute 3D information from stereo correspondences (in a truly synchronous …