Stuerzl, WolfgangSrinivasan, Mandyam V2015-12-132015-12-130302-9743http://hdl.handle.net/1885/85283This 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 are used to provide (a) complete omnidirectional 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.Keywords: Calibration; Cameras; Computation theory; Computer vision; Imaging systems; Reflection; Unmanned vehicles; Omnidirectional vision; Stereoscopic range computation; Vision system; Stereo vision20052015-12-12