Flexible Stereo: Constrained, Non-Rigid, Wide-Baseline Stereo Vision for Fixed-Wing Aerial Platforms

  title={Flexible Stereo: Constrained, Non-Rigid, Wide-Baseline Stereo Vision for Fixed-Wing Aerial Platforms},
  author={Timo Hinzmann and Tim Taubner and Roland Y. Siegwart},
  journal={2018 IEEE International Conference on Robotics and Automation (ICRA)},
This paper proposes a computationally efficient method to estimate the time-varying relative pose between two visual-inertial sensor rigs mounted on the flexible wings of a fixed-wing unmanned aerial vehicle (UAV). The estimated relative poses are used to generate highly accurate depth maps in real-time and can be employed for obstacle avoidance in low-altitude flights or landing maneuvers. The approach is structured as follows: Initially, a wing model is identified by fitting a probability… 

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