Design and calibration of single-camera catadioptric omnistereo system for miniature aerial vehicles (MAVs)

Stereo system plays an important role in the navigation of MAVs. In this paper, we design a single-camera catadioptric omnistereo system for MAV, which consists of one hyperboloidal mirror, one hyperboloidal-planar combined mirror, and one conventional camera. System parameters are optimized based on the analysis of constraints and each parameter´s influence on performance. Projective model of this system is derived, which provides a foundation for sphere-based calibration algorithm. It calibrates not only the conventional camera parameters, but also the mirror parameters. We also prove that a minimum of two spheres are needed to calibrate the seven parameters.