Stereo Vision

Visual Odometry with a Single-Camera Stereo Omnidirectional System

A single-camera stereo omnidirectional system (SOS) is applied for estimating egomotion in real-world environments.

Visual Odometry with a Single-Camera Stereo Omnidirectional System

We present the advantages of a single-camera stereo omnidirectional system (SOS) in estimating egomotion in real-world environments.

Enhancing 3D Visual Odometry with Single-Camera Stereo Omnidirectional Systems

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single omnidirectional camera moving in an unfamiliar environment.

GUMS: A Generalized Unified Model for Stereo Omnidirectional Vision (Demonstrated Via a Folded Catadioptric System)

GUMS is a complete projection model for omnidirectional stereo vision systems. GUMS is based on the existing generalized unified model (GUM), which we extend for fixed baseline sensors.

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

We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs).

A Single-Camera Omni-Stereo Vision System for 3D Perception of Micro Aerial Vehicles (MAVs)

We introduce a catadioptric single-camera omnistereo vision system that uses a pair of custom-designed mirrors (in a folded configuration) satisfying the single view point (SVP) property as a good solution to the perception challenge of MAVs.

Generating near-spherical range panoramas by fusing optical flow and stereo from a single-camera folded catadioptric rig

We design a novel 'folded' spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.

CATA

In 2011, a new intelligent ground vehicle CATA (City Autonomous Transportation Agent) was rebuilt to employ the ROS framework to participate in IGVC.

Fusing Optical Flow and Stereo in a Spherical Depth Panorama Using a Single-Camera Folded Catadioptric Rig

We design a novel 'folded' spherical catadioptric rig (formed by two coaxially-aligned spherical mirrors of distinct radii and a single perspective camera) to recover near-spherical range panoramas.

CityALIEN

In 2010, our intelligent ground vehicle CityALIEN participated and won the IGVC Design Challenge.