Flying Co-Stereo Accepted by T-RO

Our work Flying Co-Stereo has been accepted by IEEE Transactions on Robotics (T-RO)! Flying Co-Stereo is a cross-agent collaborative stereo vision system that leverages the wide-baseline spatial configuration of two UAVs for long-range dense 3D mapping. By developing a dual-spectrum visual-inertial-ranging estimator and a hybrid feature association strategy, our system achieves dense mapping at distances of up to 70 meters, corresponding to up to a 350% improvement in maximum perception range compared to conventional stereo vision systems.