Uncalibrated visual compass from omnidirectional line images with application to attitude MAV estimation

This paper presents a new algorithm based on previous results of the authors, for the estimation of the yaw angle of an omnidirectional camera/robot undergoing a 6-DoF rigid motion. Our real-time algorithm is uncalibrated, robust to noisy data, and it only relies on the projection of 3-D parallel lines as image features. Numerical and real-world experiments conducted with an eye-in-hand robot manipulator, which we used to simulate the 3-D motion of a Micro unmanned Aerial Vehicle (MAV), show the accuracy and reliability of our estimation algorithm.