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An Open Panoramic Aerial Robot: Airframe-Integrated Multi-Fisheye Sensing, Onboard ERP Formation, and Field Evaluation
arXiv · AI, language, vision and robotics · article · Sep 2, 2026 · UTC
We present an open panoramic aerial robot with four synchronized fisheye cameras integrated into a carbon-fiber airframe and an onboard NVIDIA Jetson Orin NX. The robot outputs calibrated raw views and an equirectangular panorama (ERP; 1280x640 in all experiments). The ERP pipeline uses overlap-specific projection radii, gated local alignment, seam control, and multi-rate state updates, and it runs onboard on the live four-camera stream during flight. The field dataset contains 18 sequences and more than 50,000 synchronized groups from seven sites. On a 60-frame far-field sample, the method re
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First collected: 2026-09-21T05:32:15.665Z. This is not the publication date.
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2026-09-26T08:21:45.852Z
- title:
From Multi-Fisheye Sensing to Panoramic Perception: A Parallax-Aware Onboard Platform for Ultra-Low-Altitude UAVs → An Open Panoramic Aerial Robot: Airframe-Integrated Multi-Fisheye Sensing, Onboard ERP Formation, and Field Evaluation - summary:
Ultra-low-altitude unmanned aerial vehicles (UAVs) require surround vision near buildings, vegetation, and other obstacles. We present a parallax-aware onboard platform that converts four synchronized fisheye streams into an open 1280x640 equirectangular panorama (ERP) interface. A purpose-built carbon-fiber airframe integrates the cameras, NVIDIA Jetson Orin NX, a flight controller, and a global navigation satellite system (GNSS) receiver. The formation pipeline selects projection depth per overlap and combines controlled seams and photometric fusion. Ours adds content-adaptive seam search an → We present an open panoramic aerial robot with four synchronized fisheye cameras integrated into a carbon-fiber airframe and an onboard NVIDIA Jetson Orin NX. The robot outputs calibrated raw views and an equirectangular panorama (ERP; 1280x640 in all experiments). The ERP pipeline uses overlap-specific projection radii, gated local alignment, seam control, and multi-rate state updates, and it runs onboard on the live four-camera stream during flight. The field dataset contains 18 sequences and more than 50,000 synchronized groups from seven sites. On a 60-frame far-field sample, the method re