hkust-aerial-robotics/omninxt

A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception

OmniNxt: A Fully Open-source and Compact Aerial Robot with Omnidirectional Visual Perception

Submitted to IROS 2024
Peize Liu, Chen Feng^†, Yang Xu, Yan Ning, Hao Xu^†, and Shaojie Shen

HKUST Aerial Robotics Group   
^†Corresponding Authors

Coming soon ~~~~

omninxt's Issues

github.io links to another project

hkust-aerial-robotics.github.io/OmniNxt/ links to FC-Planner, did you do it on purpose or accidentally?

About cylinder undistortion

Thank you for your excellent work.

In your paper, the cylinder undistortion method references [25], where the distortion parameter is based on Davide Scaramuzza's radial polynomial parameter model (k1, k2, k3, k4). They even use k1 to the focal length in the code(https://plaut.github.io/fisheye_tutorial/#cylindrical-images-to-the-rescue, https://github.com/valeoai/WoodScape/blob/master/scripts/calibration/example.py) .

Does OmniNxt use this parameter for undistortion?
if yes, do I need to use MATLAB to obtain these parameters, or can they be applied to the projection: MEI and radtan model?

Inquiry Regarding Fisheye Camera Set and Depth Estimation in OmniNxt

I'm intrigued by your work on OmniNxt and have a few quick questions:

1. What specific fisheye camera set does OmniNxt utilize?
2. Could you outline the baseline configuration of the fisheye cameras?
3. What is the maximum range for depth estimation achieved by Camera setup?

3D Models

Greetings!

Are you planning to share the 3D models of the hardware platform? I'm keenly interested in working with similar projects.

OmniNxt Hardware list

Thank you to the HKUST research group for creating the open-source OmniNxt.

I would like to inquire if you could share the model of the Jetson NX Orin Carrier Board.

Additionally, if possible, could you provide a list of hardware components used by the HKUST research group to build OmniNxt? I intend to build a similar OmniNxt for my own research.