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Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions

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Abstract

This paper presents the combined applications of omnidirectional vision featuring on its application to aerial robotics. Omnidirectional vision is first used to compute the attitude, altitude and motion not only in rural environment but also in the urban space. Secondly, a combination of omnidirectional and perspective cameras permits to estimate the altitude. Finally we present a stereo system consisting of an omnidirectional camera with a laser pattern projector enables to calculate the altitude and attitude during the improperly illuminated conditions to dark environments. We demonstrate that omnidirectional camera in conjunction with other sensors is suitable choice for UAV applications not only in different operating environments but also in various illumination conditions.

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Author notes

  1. Ashutosh Natraj

    Present address: Laboratory LE2I, Université de Bourgogne, Bourgogne, France

Authors and Affiliations

  1. Université de Picardie Jules Verne, Chemin du Thil 80000, Amiens, France

    Ashutosh Natraj

  2. Laboratory LE2I, Université de Bourgogne, Bourgogne, France

    Dieu Sang Ly & Cédric Demonceaux

  3. Laboratory LITIS, Université de Rouen, Rouen, France

    Damien Eynard & Pascal Vasseur

Authors
  1. Ashutosh Natraj
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  2. Dieu Sang Ly
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  3. Damien Eynard
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  4. Cédric Demonceaux
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  5. Pascal Vasseur
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Corresponding author

Correspondence to Ashutosh Natraj.

Additional information

This work was supported by Université de Picardie Jules Verne, France.

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Natraj, A., Ly, D.S., Eynard, D. et al. Omnidirectional Vision for UAV: Applications to Attitude, Motion and Altitude Estimation for Day and Night Conditions. J Intell Robot Syst 69, 459–473 (2013). https://doi.org/10.1007/s10846-012-9752-z

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  • DOI: https://doi.org/10.1007/s10846-012-9752-z

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