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Omnidirectional Vision for Attitude estimation

Using omnidirectional images the attitude information  (Roll, Pitch, Yaw) of the  UAV is obtained. For this a catadrioptic system is employed to get a omnidirectional image. Spherical backprojected and panoramic images are obtained and used to estimate the UAV attitude


Catadioptric Image              Spherical reprojection





Complementary data for Journal Paper: Omnidirectional vision applied to Unmanned Aerial Vehicles (UA"Vs) attitude and heading estimation


Omnidirectional vision and Sky segmentation for Roll, Pitch and Yaw Estimation,


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