In this article we present a visual gyroscope based on equirectangular panoramas. We propose a new pipeline where we take advantage of combining three different methods to obtain a robust and accurate estimation of the attitude of the camera. We quantitatively and qualitatively validate our method on two image sequences taken with a $360^\circ$ dual-fisheye camera mounted on different aerial vehicles.

翻译：本文提出一种基于等距矩形全景图像的视觉陀螺仪。我们设计了一种新型处理流程，通过融合三种不同方法实现相机姿态的鲁棒且精确估计。本文在两种搭载$360^\circ$双鱼眼相机的空中飞行器所采集的图像序列上，对所提方法进行了定性与定量验证。