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Fig. 3. The UAV-Quadrotor top view showing the stereo cameras orientation.

Figure 3 The UAV-Quadrotor top view showing the stereo cameras orientation.

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multispectral diverse from the other approaches utilising just one RGB stereo camera dedicated only for depth measurements [4] [5] [6]. To process the visual information obtained from the five stereo cameras, an on-board Nvidia Jetson TX2-256 core GPU (Graphic Processor Unit) Pascal processor board is used. The power requirement of the entire vision system when measured on average does not exceed 50 watts which makes it very suitable for autonomous airborne applications. Fig. 1. Stereo camera module just 28 grams in weight. The airborne robot platform used in this research is a miniature custom build Unmanned Arial Vehicle (UAV) - Quadrotor shown in Fig. 2. The Quadrotor is inherently less unstable than a conventional helicopter. It is a multi-rotor under-actuated helicopter. It has four propellers, each diagonal facing propellers pair rotating in opposite direction cancelling out each other generated rotational torque, all four propellers powered by electric DC brushless motors (BLDC), which are powered from on-board DC voltage.
multispectral diverse from the other approaches utilising just one RGB stereo camera dedicated only for depth measurements [4] [5] [6]. To process the visual information obtained from the five stereo cameras, an on-board Nvidia Jetson TX2-256 core GPU (Graphic Processor Unit) Pascal processor board is used. The power requirement of the entire vision system when measured on average does not exceed 50 watts which makes it very suitable for autonomous airborne applications. Fig. 1. Stereo camera module just 28 grams in weight. The airborne robot platform used in this research is a miniature custom build Unmanned Arial Vehicle (UAV) - Quadrotor shown in Fig. 2. The Quadrotor is inherently less unstable than a conventional helicopter. It is a multi-rotor under-actuated helicopter. It has four propellers, each diagonal facing propellers pair rotating in opposite direction cancelling out each other generated rotational torque, all four propellers powered by electric DC brushless motors (BLDC), which are powered from on-board DC voltage.
nq The VAV-Quadrotor is capable of performing a vertical flight and transition to and from a horizontal flight. Its flight control method depends mainly on controlling the variation of the distribution of the propellers lifting force and propellers generated torques about its center of gravity. Controlling these forces enables the onboard control system to stabilize it during hovering and performing complex flight. The UAV- Quadrotor is capable of lifting a payload weight of up to 1100 gram. Fig. 2. The research custom build UAV Quadrotor
nq The VAV-Quadrotor is capable of performing a vertical flight and transition to and from a horizontal flight. Its flight control method depends mainly on controlling the variation of the distribution of the propellers lifting force and propellers generated torques about its center of gravity. Controlling these forces enables the onboard control system to stabilize it during hovering and performing complex flight. The UAV- Quadrotor is capable of lifting a payload weight of up to 1100 gram. Fig. 2. The research custom build UAV Quadrotor
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