I am currently working on an obstacle avoiding UAV using stereo vision to obtain depth maps. I noticed that the quadcopter would sometimes not steer to the correct direction.
I am using the Raspberry Pi Compute Module IO board which comes with two CSI ports used with two v1 Pi Cameras.
I soon found out that due to the latency between the cameras, the left and the right images are not in sync thus the errors in the depth map result.
I noticed the image blur when moving the cameras around so I adjusted the shutter speed by setting the UV4l/raspicam driver. With the shutter speed, I also tried to increase the framerate as I've read, it improves the latency issue. In my code which uses the opencv library, I used the grab() and retrieve() commands to replace the read() command so that the frames from both cameras is grabbed at the nearest time possible however it didn't help much.
Does anyone know any possible solutions?