# Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)

arXiv: https://arxiv.org/abs/1510.00771 · HTML: https://mlsanity.com/paper/1510.00771/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Oct 2015.

## Built on by (most cited first, 1 of 1)

- [Calibration Method of the Monocular Omnidirectional Stereo Camera](https://mlsanity.com/paper/2108.07936/) (2021)

## Abstract (arXiv)

We describe the design and 3D sensing performance of an omnidirectional stereo-vision system (omnistereo) as applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo model employs a monocular camera that is co-axially aligned with a pair of hyperboloidal mirrors (folded catadioptric configuration). We show that this arrangement is practical for performing stereo-vision when mounted on top of propeller-based MAVs characterized by low 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 uncertainty estimation of the depth from triangulation for skew back-projection rays. We expect to motivate the reproducibility of our solution since it can be adapted (optimally) to other catadioptric-based omnistereo vision applications.