A Testing-Environment For A Mobile Collaborative Stereo Configuration With A Dynamic Baseline

This contribution deals with the construction of a testing-environment for the development of a camera based collaborative stereo configuration with a dynamic baseline. The use of a variable baseline for the stereo configuration allows to perform a more accurate depth calculation of the environment. For the development of such a collaborative stereo configuration it's necessary to compare the results with ground-truth data. A VICON systems is a very capable solution for UAV and Robotic studies because of the high accuracy and low latency. This external localization system is intended to determine the dynamic stereo baseline at the first step of development. At a later progress this task will be taken over by another calibrated stereo camera that belongs to the mobile collaborative stereo configuration.