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Morphable design and depth-based visual control are two upcoming trendsleading to advancements in the field of quadrotor autonomy. Stereo-cameras havestruck the perfect balance of weight and accuracy of depth estimation butsuffer from the problem of depth range being limited and dictated by thebaseline chosen at design time. In this paper, we present a framework forquadrotor navigation based on a stereo camera system whose baseline can beadapted on-the-fly. We present a method to calibrate the system at a smallnumber of discrete baselines and interpolate the parameters for the entirebaseline range. We present an extensive theoretical analysis of calibration andsynchronization errors. We showcase three different applications of such asystem for quadrotor navigation: (a) flying through a forest, (b) flyingthrough an unknown shaped/location static/dynamic gap, and (c) accurate 3D posedetection of an independently moving object. We show that our variable baselinesystem is more accurate and robust in all three scenarios. To our knowledge,this is the first work that applies the concept of morphable design to achievea variable baseline stereo vision system on a quadrotor.

MorphEyes: Variable Baseline Stereo For Quadrotor Navigation