{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:37:24Z","timestamp":1760143044918,"version":"build-2065373602"},"reference-count":20,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2024,1,7]],"date-time":"2024-01-07T00:00:00Z","timestamp":1704585600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Aerial robots, or unmanned aerial vehicles (UAVs), are widely used in 3D reconstruction tasks employing a wide range of sensors. In this work, we explore the use of wide baseline and non-parallel stereo vision for fast and movement-efficient long-range 3D reconstruction with multiple aerial robots. Each viewpoint of the stereo vision system is distributed on separate aerial robots, facilitating the adjustment of various parameters, including baseline length, configuration axis, and inward yaw tilt angle. Additionally, multiple aerial robots with different sets of parameters can be used simultaneously, including the use of multiple baselines, which allows for 3D monitoring at various depth ranges simultaneously, and the combined use of horizontal and vertical stereo, which improves the quality and completeness of depth estimation. Depth estimation at a distance of up to 400 m with less than 10% error using only 10 m of active flight distance is demonstrated in the simulation. Additionally, estimation of a distance of up to 100 m with flight distance of up to 10 m on the vertical axis and horizontal axis is demonstrated in an outdoor mapping experiment using the developed prototype UAVs.<\/jats:p>","DOI":"10.3390\/rs16020234","type":"journal-article","created":{"date-parts":[[2024,1,8]],"date-time":"2024-01-08T05:21:38Z","timestamp":1704691298000},"page":"234","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Long-Range 3D Reconstruction Based on Flexible Configuration Stereo Vision Using Multiple Aerial Robots"],"prefix":"10.3390","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-9805-3316","authenticated-orcid":false,"given":"Borwonpob","family":"Sumetheeprasit","sequence":"first","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Shiga, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6158-7325","authenticated-orcid":false,"given":"Ricardo","family":"Rosales Martinez","sequence":"additional","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Shiga, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5469-8342","authenticated-orcid":false,"given":"Hannibal","family":"Paul","sequence":"additional","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Shiga, Japan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1814-7767","authenticated-orcid":false,"given":"Kazuhiro","family":"Shimonomura","sequence":"additional","affiliation":[{"name":"Department of Robotics, Ritsumeikan University, Kusatsu 525-8577, Shiga, Japan"}]}],"member":"1968","published-online":{"date-parts":[[2024,1,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s12518-013-0120-x","article-title":"UAV for 3D mapping applications: A review","volume":"6","author":"Nex","year":"2014","journal-title":"Appl. Geomat."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1144","DOI":"10.1109\/JSTARS.2022.3233359","article-title":"Optimized views photogrammetry: Precision analysis and a large-scale case study in qingdao","volume":"16","author":"Li","year":"2023","journal-title":"IEEE J. Sel. Top. Appl. Earth Obs. Remote Sens."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"107620","DOI":"10.1016\/j.geomorph.2021.107620","article-title":"Applications of unmanned aerial vehicle (UAV) surveys and Structure from Motion photogrammetry in glacial and periglacial geomorphology","volume":"378","author":"Ewertowski","year":"2021","journal-title":"Geomorphology"},{"key":"ref_4","first-page":"012042","article-title":"Integration of Lidar system, mobile laser scanning (MLS) and unmanned aerial vehicle system for generation of 3d building model application: A review","volume":"Volume 1064","author":"Room","year":"2022","journal-title":"IOP Conference Series: Earth and Environmental Science"},{"key":"ref_5","first-page":"572","article-title":"Drone LiDAR application for 3D city model","volume":"6","author":"Setyawan","year":"2022","journal-title":"J. Appl. Geospat. Inf."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Meng, H., Wang, G., Han, Y., Zhang, Z., Cao, Y., and Chen, J. (2019, January 22\u201324). A 3D modeling algorithm of ground crop based on light multi-rotor UAV lidar remote sensing data. Proceedings of the 2019 IEEE International Conference on Unmanned Systems and Artificial Intelligence (ICUSAI), Xi\u2019an, China.","DOI":"10.1109\/ICUSAI47366.2019.9124872"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Martinez Rocamora Jr, B., Lima, R.R., Samarakoon, K., Rathjen, J., Gross, J.N., and Pereira, G.A. (2023). Oxpecker: A tethered uav for inspection of stone-mine pillars. Drones, 7.","DOI":"10.3390\/drones7020073"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1139\/dsa-2023-0001","article-title":"NetherDrone: A tethered and ducted propulsion multirotor drone for complex underground mining stopes inspection","volume":"11","author":"Leclerc","year":"2023","journal-title":"Drone Syst. Appl."},{"key":"ref_9","doi-asserted-by":"crossref","unstructured":"Sumetheeprasit, B., Rosales Martinez, R., Paul, H., Ladig, R., and Shimonomura, K. (2023). Variable Baseline and Flexible Configuration Stereo Vision Using Two Aerial Robots. Sensors, 23.","DOI":"10.3390\/s23031134"},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"102918","DOI":"10.1016\/j.autcon.2019.102918","article-title":"UAV-assisted autonomous mobile robot navigation for as-is 3D data collection and registration in cluttered environments","volume":"106","author":"Kim","year":"2019","journal-title":"Autom. Constr."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"713","DOI":"10.1007\/s00138-009-0188-9","article-title":"Wide-baseline stereo vision for terrain mapping","volume":"21","author":"Olson","year":"2010","journal-title":"Mach. Vis. Appl."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"552","DOI":"10.1109\/CVPR.2004.1315080","article-title":"Wide-baseline stereo from multiple views: A probabilistic account","volume":"Volume 1","author":"Strecha","year":"2004","journal-title":"Proceedings of the 2004 IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2004, CVPR 2004"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"2280","DOI":"10.1016\/j.patcog.2014.01.005","article-title":"Automatic generation and detection of highly reliable fiducial markers under occlusion","volume":"47","year":"2014","journal-title":"Pattern Recognit."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1007\/978-3-319-26054-9_24","article-title":"The ROS multimaster extension for simplified deployment of multi-robot systems","volume":"Volume 1","author":"Tiderko","year":"2016","journal-title":"Robot Operating System (ROS) the Complete Reference"},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Hirschmuller, H., and Gehrig, S. (2009, January 20\u201325). Stereo matching in the presence of sub-pixel calibration errors. Proceedings of the 2009 IEEE Conference on Computer Vision and Pattern Recognition, Miami, FL, USA.","DOI":"10.1109\/CVPR.2009.5206493"},{"key":"ref_16","unstructured":"Rodriguez, J.J., and Aggarwal, J. (1988, January 5\u20139). Quantization error in stereo imaging. Proceedings of the CVPR\u201988: The Computer Society Conference on Computer Vision and Pattern Recognition, Ann Arbor, MI, USA."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Stoyanov, D., Scarzanella, M.V., Pratt, P., and Yang, G.Z. (2010, January 20\u201324). Real-time stereo reconstruction in robotically assisted minimally invasive surgery. Proceedings of the Medical Image Computing and Computer-Assisted Intervention\u2013MICCAI 2010: 13th International Conference, Beijing, China.","DOI":"10.1007\/978-3-642-15705-9_34"},{"key":"ref_18","unstructured":"Shah, S., Dey, D., Lovett, C., and Kapoor, A. (2018). Field and Service Robotics: Results of the 11th International Conference, Springer."},{"key":"ref_19","unstructured":"Google Maps (2023, November 06). Ritsumeikan University Biwako-Kusatsu Campus. Available online: https:\/\/goo.gl\/maps\/BNZfmefa5A41mT2c7."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"416","DOI":"10.1002\/rob.21831","article-title":"RTAB-Map as an open-source lidar and visual simultaneous localization and mapping library for large-scale and long-term online operation","volume":"36","author":"Michaud","year":"2019","journal-title":"J. Field Robot."}],"container-title":["Remote Sensing"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2072-4292\/16\/2\/234\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T13:41:35Z","timestamp":1760103695000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2072-4292\/16\/2\/234"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1,7]]},"references-count":20,"journal-issue":{"issue":"2","published-online":{"date-parts":[[2024,1]]}},"alternative-id":["rs16020234"],"URL":"https:\/\/doi.org\/10.3390\/rs16020234","relation":{},"ISSN":["2072-4292"],"issn-type":[{"type":"electronic","value":"2072-4292"}],"subject":[],"published":{"date-parts":[[2024,1,7]]}}}