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A key requirement for unmanned aerial vehicles (UAV) applications is the attitude stabilization of the aircraft, which requires the knowledge of its orientation. It is now well established that traditional navigation equipments, like GPS or INS, suffer from several disadvantages. That is why some works have suggested a vision-based approach of the problem. Especially, catadioptric vision is more and...
This paper discusses a real-time method to calculate the three-dimensional location of a fixed target detected by a gimbaled camera in a fixed-wing experimental unmanned aerial vehicle (UAV) equipped with a single-antenna GPS receiver on board. The camera was operated by an algorithm that automatically tracked the detected target, and the location was obtained using triangulation. The algorithm, however,...
In this paper, a unique dense 3D shape reconstruction method featuring GPS/DR coupled omni-direction multi-baseline motion stereo system is presented. The epipolar plane equation between two omni-directional vision images is computed from the GPS/DR's position and posture information. Then, the precise epipolar lines can be obtained robustly by projecting the intersection line between the epipolar...
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