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Catadioptric System and Omnidirectional vision

Catadioptric system is a method used  on robotics in order to extend the field of view given by conventional cameras. It  is achieved using conic mirrors with know properties (hyperbolic, parabolic and spheric shapes) and the use of the geometric properties, in order to obtain clear images that can be modeled through the unitary sphere model.


Application for UAV attitude estimation.