Autonomous Flight with Onboard Stereo Vision

We shift our focus to the use of stereo vision for autonomous flight. Stereo vision implies carrying two cameras on board, which adds weight and increases the power consumption. Still, it also allows for instantaneous distance estimates, which is a considerable advantage on a moving (and oscillating) flapping wing MAV. In particular, we explain the onboard stereo vision and control algorithms that allow the 20-g DelFly Explorer to autonomously fly around in unknown environments for as long as its battery lasts.

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