Safety is undoubtedly the most fundamental requirement for any aerial robotic application. It is essential to equip aerial robots with omnidirectional perception coverage to ensure safe navigation in complex environments. In this paper, we present a light‐weight and low‐cost omnidirectional perception system, which consists of two ultrawide field‐of‐view (FOV) fisheye cameras and a low‐cost inertial measurement unit (IMU). The goal of the system is to achieve spherical omnidirectional sensing coverage with the minimum sensor suite. The two fisheye cameras are mounted rigidly facing upward and downward directions and provide omnidirectional perception coverage: 360° FOV horizontally, 50° FOV vertically for stereo, and whole spherical for monocular. We present a novel optimization‐based dual‐fisheye visual‐inertial state estimator to provide highly accurate state‐estimation. Real‐time omnidirectional three‐dimensional (3D) mapping is combined with stereo‐based depth perception for the horizontal direction and monocular depth perception for upward and downward directions. The omnidirectional perception system is integrated with online trajectory planners to achieve closed‐loop, fully autonomous navigation. All computations are done onboard on a heterogeneous computing suite. Extensive experimental results are presented to validate individual modules as well as the overall system in both indoor and outdoor environments.

中文翻译：

---

使用双鱼眼摄像机的自主航拍机器人

对于任何空中机器人应用，安全无疑是最基本的要求。必须为航空机器人配备全方位的感知覆盖，以确保在复杂环境中的安全导航。在本文中，我们提出了一种轻巧，低成本的全向感知系统，该系统由两个超宽视野（FOV）鱼眼镜头相机和一个低成本惯性测量单元（IMU）组成。该系统的目标是用最少的传感器套件实现球形全向传感范围。两个鱼眼镜头分别牢固地安装在向上和向下的方向，并提供全方位的感知范围：水平360°FOV，垂直50°FOV（用于立体声）和整个球面（用于单眼）。我们提出一种新颖的基于优化的双鱼眼视觉惯性状态估计器，以提供高度准确的状态估计。实时全向三维（3D）映射与水平方向的基于立体声的深度感知以及向上和向下方向的单眼深度感知相结合。全向感知系统与在线轨迹规划器集成在一起，以实现闭环，完全自主的导航。所有计算都是在异构计算套件上完成的。提出了广泛的实验结果，以验证室内和室外环境中的各个模块以及整个系统。实时全向三维（3D）映射与水平方向的基于立体声的深度感知以及向上和向下方向的单眼深度感知相结合。全向感知系统与在线轨迹规划器集成在一起，以实现闭环，完全自主的导航。所有计算都是在异构计算套件上完成的。提出了广泛的实验结果，以验证室内和室外环境中的各个模块以及整个系统。实时全向三维（3D）映射与水平方向的基于立体声的深度感知以及向上和向下方向的单眼深度感知相结合。全向感知系统与在线轨迹规划器集成在一起，以实现闭环，完全自主的导航。所有计算都是在异构计算套件上完成的。提出了广泛的实验结果，以验证室内和室外环境中的各个模块以及整个系统。