Variable Configuration Stereo for Aerial Survey Using Two Unmanned Aerial Vehicles

In this research, we develop a stereo imaging system where the left and right camera are mounted separately on two UAVs. The configuration of the stereo system, including baseline and posture between two cameras, is made adjustable. The ability to adjust the configuration is crucial to achieve accurate depth image, in which accuracy depends greatly on the correct proportion between the target distance range and the baseline distance. Mounting the cameras on two separate UAVs would allow the flexibility to adjust the configuration while facilitating the mobility in cases where a large baseline is needed. The proposed method can be used for accurate and fast wide area aerial surveys such as terrain mapping, or building modelling, with the utilization of two compact sized UAVs.