Long-Range 3D Reconstruction Based on Flexible Configuration Stereo Vision Using Multiple Aerial Robots

Aerial robots, or unmanned aerial vehicles (UAVs), are widely used in 3D reconstruction tasks employing a wide range of sensors. In this work, we explore the use of wide baseline and non-parallel stereo vision for fast and movement-efficient long-range 3D reconstruction with multiple aerial robots. Each viewpoint of the stereo vision system is distributed on separate aerial robots, facilitating the adjustment of various parameters, including baseline length, configuration axis, and inward yaw tilt angle. Additionally, multiple aerial robots with different sets of parameters can be used simultaneously, including the use of multiple baselines, which allows for 3D monitoring at various depth ranges simultaneously, and the combined use of horizontal and vertical stereo, which improves the quality and completeness of depth estimation. Depth estimation at a distance of up to 400 m with less than 10% error using only 10 m of active flight distance is demonstrated in the simulation. Additionally, estimation of a distance of up to 100 m with flight distance of up to 10 m on the vertical axis and horizontal axis is demonstrated in an outdoor mapping experiment using the developed prototype UAVs.