Visual Odometry with a Single-Camera Stereo Omnidirectional System
We present the advantages of a single-camera stereo omnidirectional system (SOS) in estimating egomotion in real-world environments.
Oct 1, 2019
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.
Oct 1, 2019
Enhancing 3D Visual Odometry with Single-Camera Stereo Omnidirectional Systems
We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single omnidirectional camera moving in an unfamiliar environment.
May 23, 2018
GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision (Demonstrated Via a Folded Catadioptric System)
GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.
Oct 9, 2016
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).
Feb 6, 2016
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.
Jun 19, 2013
Generating near-spherical range panoramas by fusing optical flow and stereo from a single-camera folded catadioptric rig
We design a novel 'folded' spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.
Jan 1, 2013
CATA
In 2011, a new intelligent ground vehicle CATA (City Autonomous Transportation Agent) was rebuilt to employ the ROS framework to participate in IGVC.
Jun 4, 2011
Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig
We design a novel 'folded' spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.
May 9, 2011
CityALIEN
In 2010, our intelligent ground vehicle CityALIEN participated and won the IGVC Design Challenge.
Jun 4, 2010