Omnidirectional vision for UAV: applications to attitude, motion and altitude estimation for day and night conditions

International audienceA camera mounted on an unmanned air- craft system(UAS) can be used for object detection, recognition and tracking, simultaneous localization and mapping(SLAM) etc. Nevertheless, some parameters such as attitude, altitude, motion of the UAV, which are essential for the control can be obtained with vision. Although a lot of works proposed to use the perspective camera, it is well known that cameras with large field of view are more interesting in mobile/ aerial robotics. Thanks to the different results obtained from our proposed algorithms show how this kind of sensors either catadioptric or fish- eye can be used for estimating the attitude, altitude and motion to facilitate control during the day in rural or urban space and in the improperly illuminated to night environment