OmniNxt：一款具备全向视觉感知能力的完全开源紧凑型空中机器人
OmniNxt: A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception
AI总结：
针对全向视场相机增加空中机器人系统复杂性的问题，本文提出完全开源的 OmniNxt 平台，通过 NxtPX4 飞行控制器、多鱼眼相机组及配套软件实现低资源占用的精确定位与实时稠密建图，并经过真实实验验证。
摘要：
在空中机器人中采用全向视场（FoV）相机可大幅提升感知能力，显著推进空中机器人在巡检、重建和救援任务中的能力。然而，此类传感器也提高了系统复杂性，例如硬件设计及相应算法，这限制了研究人员在其研究中使用具备全向视场的空中机器人。为弥合这一差距，我们提出 OmniNxt，一个具备全向感知能力的完全开源空中机器人平台。我们为 OmniNxt 设计了高性能飞行控制器 NxtPX4 和一套多鱼眼相机组。同时，精心设计了兼容软件，使 OmniNxt 能够在占用有限计算资源的情况下实现精确定位和实时稠密建图。我们进行了大量真实世界实验，以验证 OmniNxt 在实际应用中的优越性能。所有硬件和软件均已在 https://github.com/HKUST-Aerial-Robotics/OmniNxt 开放获取，并且我们提供了所提出系统中每个关键模块的 Docker 镜像。项目页面：https://hkust-aerial-robotics.github.io/OmniNxt。
英文摘要：
Adopting omnidirectional Field of View (FoV) cameras in aerial robots vastly improves perception ability, significantly advancing aerial robotics's capabilities in inspection, reconstruction, and rescue tasks. However, such sensors also elevate system complexity, e.g., hardware design, and corresponding algorithm, which limits researchers from utilizing aerial robots with omnidirectional FoV in their research. To bridge this gap, we propose OmniNxt, a fully open-source aerial robotics platform with omnidirectional perception. We design a high-performance flight controller NxtPX4 and a multi-fisheye camera set for OmniNxt. Meanwhile, the compatible software is carefully devised, which empowers OmniNxt to achieve accurate localization and real-time dense mapping with limited computation resource occupancy. We conducted extensive real-world experiments to validate the superior performance of OmniNxt in practical applications. All the hardware and software are open-access at https://github.com/HKUST-Aerial-Robotics/OmniNxt, and we provide docker images of each crucial module in the proposed system. Project page: https://hkust-aerial-robotics.github.io/OmniNxt.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
