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Altitude is one of the most important parameters to be known for an Unmanned Aerial Vehicle (UAV) especially during critical maneuvers such as landing or steady flight. In this paper, we present mixed stereoscopic vision system made of a fish-eye camera and a perspective camera for altitude estimation. Contrary to classical stereoscopic systems based on feature matching, we propose a plane sweeping...
Attitude is one of the most important parameters for a UAV during a flight. Attitude computation methods based vision generally use the horizon line as reference. However, the horizon line becomes an inadequate feature in urban environment. We then propose in this paper an omnidirectional vision system based on straight lines (very frequent in urban environment) that is able to compute the roll and...
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