A Raspberry Pi 2-Based Stereo Camera Depth Meter

The Raspberry Pi single-board computer is a low cost, light weight system with small power requirements. It is an attractive embedded computer vision solution for many applications, including that of UAVs. Here, we focus on the Raspberry Pi 2 and demonstrate that, with the addition of a multiplexer and two camera modules, it is able to execute a full stereo matching pipeline, making it a suitable depth metering device for UAV usage. Our experimental results demonstrate that the proposed configuration is capable of performing reasonably accurate depth estimation for a system moving at a rate of 1 ms(-1) when in good lighting conditions.