Omnidirectional vision with frontal stereo

This study describes a novel imaging system that can be used as a front end for a vision system for guidance of unmanned aerial vehicles. A single camera and a combination of three specially designed reflecting surfaces axe used to provide (a) complete onmidirectional vision with no frontal blind zone and (b) stereo range within a frontal field. Important features are (i) the use of a single camera, which, apart from minimising cost, eliminates the need for alignment and calibration of multiple cameras; and (ii) a novel approach to stereoscopic range computation that uses a single camera and a circular baseline to overcome potential aperture problems