四鱼眼相机融合生成全景图，实现超低空无人机实时感知。
From Multi-Fisheye Sensing to Panoramic Perception: A Parallax-Aware Onboard Platform for Ultra-Low-Altitude UAVs
- 基于视差感知的全景拼接算法，动态调整投影深度与接缝。
- 在18个实地序列中，远场特征错位降低41.6%，帧率稳定在19.99帧/秒。
- 适合超低空飞行场景，开源代码支持下游视觉任务复用。
超低空无人机需在建筑、植被等障碍物附近实现环视感知。本文提出一种视差感知的机载全景平台，将四路同步鱼眼视频流转换为开放的1280×640等距投影全景图（ERP）接口。定制碳纤维机架集成四摄像头、NVIDIA Jetson Orin NX、飞控系统及全球导航卫星系统（GNSS）接收器。拼接流水线根据重叠区域选择投影深度，结合可控接缝与光度融合。其精度模式引入内容自适应接缝搜索和验证门控残差网格；部署模式则采用边距门控逐缝更新以支持传感器速率运行。评估基于18个实地序列中的5万余组四视角数据。相比固定深度方法，精度模式使远场P90特征错位减少41.6%；部署的逐缝模式在独立站点上实现最低整体几何误差。在20 Hz回放下，部署模式维持19.99帧/秒，平均模块输入功耗13.29W。八扇区ERP采样在白天场景下达到90.8%均值视觉位置识别召回率@5。结果共同验证了集成了视差感知拼接、传感器速率嵌入执行与可复用下游视觉接口的机载全景感知架构。项目已开源：https://github.com/DUNDAI1998/parallax-aware-uav-panorama。
原文摘要 · Abstract (English)
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. Its accuracy profile adds content-adaptive seam search and a validation-gated residual mesh, whereas its deployed profile retains margin-gated Per-seam updates for sensor-rate operation. Evaluation uses more than 50,000 four-view groups from 18 field sequences. Relative to Fixed Depth, the accuracy profile reduces far-field P90 feature misalignment by 41.6%; the deployed Per-seam profile achieves the lowest aggregate geometric errors across held-out sites. Under a paced 20 Hz replay, the deployed profile sustains 19.99 frames/s at 13.29W mean module-input power. Eight-sector ERP sampling reaches 90.8% mean daytime visual-place-recognition Recall@5. Together, these results validate an integrated onboard panoramic-perception architecture that unifies parallax-aware formation, sensor-rate embedded execution, and reusable downstream vision interfaces for ultra-low-altitude UAVs. The project has been open-sourced at https://github.com/DUNDAI1998/parallax-aware-uav-panorama.
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