{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,10]],"date-time":"2026-01-10T02:48:23Z","timestamp":1768013303478,"version":"3.49.0"},"reference-count":40,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2016,2,6]],"date-time":"2016-02-06T00:00:00Z","timestamp":1454716800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100000183","name":"U.S. Army Research Office","doi-asserted-by":"publisher","award":["W911NF-09-1-0565"],"award-info":[{"award-number":["W911NF-09-1-0565"]}],"id":[{"id":"10.13039\/100000183","id-type":"DOI","asserted-by":"publisher"}]},{"name":"U.S. National Science Foundation","award":["IIS-0644127"],"award-info":[{"award-number":["IIS-0644127"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>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\u2019s 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.<\/jats:p>","DOI":"10.3390\/s16020217","type":"journal-article","created":{"date-parts":[[2016,2,9]],"date-time":"2016-02-09T13:45:23Z","timestamp":1455025523000},"page":"217","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Design and Analysis of a Single\u2014Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3840-6394","authenticated-orcid":false,"given":"Carlos","family":"Jaramillo","sequence":"first","affiliation":[{"name":"Deptartment of Computer Science, The Graduate Center, The City University of New York (CUNY), 365 Fifth Avenue, New York, NY 10016, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Roberto","family":"Valenti","sequence":"additional","affiliation":[{"name":"Electrical Engineering Department, The City College, City University of New York (CUNY City College), Convent Ave & 140th Street, New York, NY 10031, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ling","family":"Guo","sequence":"additional","affiliation":[{"name":"Automation Department, Nanjing University of Science and Technology (NUST), Nanjing 210094, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jizhong","family":"Xiao","sequence":"additional","affiliation":[{"name":"Electrical Engineering Department, The City College, City University of New York (CUNY City College), Convent Ave & 140th Street, New York, NY 10031, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2016,2,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2283","DOI":"10.3390\/s150202283","article-title":"A Compact 3D Omnidirectional Range Sensor of High Resolution for Robust Reconstruction of Environments","volume":"15","author":"Marani","year":"2015","journal-title":"Sensors"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Valenti, R.G., Dryanovski, I., Jaramillo, C., Strom, D.P., and Xiao, J. 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