Small UAV

Visual Odometry with a Single-Camera Stereo Omnidirectional System

A single-camera stereo omnidirectional system (SOS) is applied for estimating egomotion in real-world environments.

Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)

We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs).

A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs)

We introduce a catadioptric single-camera omnistereo vision system that uses a pair of custom-designed mirrors (in a folded configuration) satisfying the single view point (SVP) property as a good solution to the perception challenge of MAVs.