Collaborative Monocular SLAM with UAV

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Hi,

My task is to perform collaborative monocular slam with two quadrotor in Gazebo (I use hector_quadrotor package). On a single camera I tested some algorithms like LSD-SLAM, ORB-SLAM2, SVO, but I can't find implemented methods for two cameras. I found articles, such as "Collaborative monocular slam with multiple micro aerial vehicles"(C. Forster) and "Multi-UAV Collaborative Monocular SLAM"(P. Schmuck and M. Chli), but while reading, I got confused and realized that I did not understand the material. Perhaps, you have been studying this issue and can advise me where to start (articles, links to githabs or other papers.).