# On the Advantages of Multiple Stereo Vision Camera Designs for Autonomous Drone Navigation

arXiv: https://arxiv.org/abs/2105.12691 · HTML: https://mlsanity.com/paper/2105.12691/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 2 of its 5 references that are in the map.
- First posted on arXiv 26 May 2021.

## Builds on (most cited first, 2 of 2)

- [ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras](https://mlsanity.com/paper/1610.06475/) (2016)
- [BiSeNet: Bilateral Segmentation Network for Real-time Semantic Segmentation](https://mlsanity.com/paper/1808.00897/) (2018)

## Built on by (most cited first, 1 of 1)

- [Safe Vessel Navigation Visually Aided by Autonomous Unmanned Aerial Vehicles in Congested Harbors and Waterways](https://mlsanity.com/paper/2108.03862/) (2021)

## Abstract (arXiv)

In this work we showcase the design and assessment of the performance of a multi-camera UAV, when coupled with state-of-the-art planning and mapping algorithms for autonomous navigation. The system leverages state-of-the-art receding horizon exploration techniques for Next-Best-View (NBV) planning with 3D and semantic information, provided by a reconfigurable multi stereo camera system. We employ our approaches in an autonomous drone-based inspection task and evaluate them in an autonomous exploration and mapping scenario. We discuss the advantages and limitations of using multi stereo camera flying systems, and the trade-off between number of cameras and mapping performance.