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Pose estimation

Position and orientation estimation

A multi-camera system can help solving common vision problems such as occlusions, and can offer more tools for control, tracking, navigation of mobile vehicles, among other tasks.

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