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

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

HKUST Aerial Robotics Group   
^†Corresponding Authors

News

• [30/06/2024]: OmniNxt is accepted to IROS 2024.
• The whole project (Hardware and Software) will be released before 15.Aug. ( I am currently cooperating with the hardware producer to make the reproduction easier, and fixing some bug in Omni-VINS to make it easy to be implemented on Jetson Orin NX). If you want early access please contact ()

Hardware

You can access our latest design by using Fusion360.

Projest link: https://a360.co/3vK6dJd

Access code: hkustUAV

BOM

All our components can be purchased at Taobao

Component	Specification	Link
Quad-Fisheye Camera Set
OAK-FFC-4P	Camera control board	Official / Taobao
B0335 (OV9782)	Camera modules (210-degree fisheye lens)	Official / Taobao
Camera cables	Customized	Camera cable SCH
Onboard computer
Jetson Orin Nx
Jetson Orin Nx carrier board		DM
Jetson Orin Nx radiator
Jeston Orin Network card
2230 SSD
Intel AX200
Flight platforms (6S)
Nxt-FC	Project Page	MicoAir / Taobao
Flight frame	Customized	Fusion360
Protector	Customized / Oddity RC XI35 protector	Fusion360 / Oddity RC
Motors	2204 1750KV/ 1804 2450KV
6S Battery

Camera cable SCH

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Hardware system Overview

Multi-fisheye camera set

Jetson Orin

Nxt-FC

Runtime setup