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Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs).
- Source :
-
Sensors (Basel, Switzerland) [Sensors (Basel)] 2016 Feb 06; Vol. 16 (2), pp. 217. Date of Electronic Publication: 2016 Feb 06. - Publication Year :
- 2016
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Abstract
- We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo sensor employs a monocular camera that is co-axially aligned with a pair of hyperboloidal mirrors (a vertically-folded catadioptric configuration). We show that this arrangement provides a compact solution for omnidirectional 3D perception while mounted on top of propeller-based MAVs (not capable of large payloads). The theoretical single viewpoint (SVP) constraint helps us derive analytical solutions for the sensor's projective geometry and generate SVP-compliant panoramic images to compute 3D information from stereo correspondences (in a truly synchronous fashion). We perform an extensive analysis on various system characteristics such as its size, catadioptric spatial resolution, field-of-view. In addition, we pose a probabilistic model for the uncertainty estimation of 3D information from triangulation of back-projected rays. We validate the projection error of the design using both synthetic and real-life images against ground-truth data. Qualitatively, we show 3D point clouds (dense and sparse) resulting out of a single image captured from a real-life experiment. We expect the reproducibility of our sensor as its model parameters can be optimized to satisfy other catadioptric-based omnistereo vision under different circumstances.
Details
- Language :
- English
- ISSN :
- 1424-8220
- Volume :
- 16
- Issue :
- 2
- Database :
- MEDLINE
- Journal :
- Sensors (Basel, Switzerland)
- Publication Type :
- Academic Journal
- Accession number :
- 26861351
- Full Text :
- https://doi.org/10.3390/s16020217