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> horizontal wires were the hardest common object to avoid... Traditional stereo won't help you localize them

This makes a lot of sense. I wonder if it wouldn't be better for autonomous vision to use three cameras instead of two for better spatial reasoning.. maybe in a triangle pattern?

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We experimented with a rig with more cameras on it (four, in a square) but the baseline of the cameras on the drones we were using could be measured in centimeters, so the vertical stereo pairs didn't provide much better results. Further, more cameras means more power, more weight, and much more expensive on-board processing (which also will require more power).

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