Table of Contents

Vision System

Camera Array — 360° Surround Vision

4× IMX219 160° Wide Angle (CSI)
Mounting Layout
RealSense D435i (USB3)
RPLIDAR A1M8 (USB)

CSI Adapter Required
Processing Pipeline (on Orin Nano @ 67 TOPS)
Total Sensor Budget

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Vision System

Camera Array — 360° Surround Vision

4× IMX219 160° Wide Angle (CSI)

Sensor: Sony IMX219, 8MP
Resolution: 3280×2464 (stills), 1080p @ 30fps, 720p @ 60fps (video)
FOV: 160° wide angle — 4 cameras = full 360° with overlap
Interface: MIPI CSI-2 (15-pin ribbon cable)
Focus: Manual focus, 2.96mm lens
Arriving: March 1, 2026

Mounting Layout

            FRONT
         ┌────────┐
         │ CAM 0  │  → Forward (0°)
    ┌────┤  160°  ├────┐
    │    └────────┘    │
    │CAM 3          CAM 1│
    │ Left            Right│
    │(270°)          (90°) │
    │    ┌────────┐    │
    └────┤ CAM 2  ├────┘
         │  160°  │
         └────────┘
            REAR (180°)

Each camera covers 160° — with 4 cameras at 90° intervals, there's ~70° overlap between adjacent cameras. This overlap is useful for:

Cross-camera object tracking (hand off between views)
Panoramic stitching
Stereo depth estimation from adjacent pairs

RealSense D435i (USB3)

Purpose: Primary depth sensing + RGB for SLAM/navigation
Mount: Forward-facing, mid-height on stem
Resolution: 1280×720 depth @ 30fps + 1080p RGB
Depth range: 0.2m - 10m
IMU: Built-in accelerometer + gyroscope

RPLIDAR A1M8 (USB)

Purpose: 360° 2D laser scan for SLAM/nav2
Mount: Top of sensor tower (under helmet)
Range: 12m, 360°, ~5.5Hz scan rate

CSI Adapter Required

The Orin Nano Dev Kit carrier exposes 2 CSI connectors. To use all 4 cameras simultaneously, need a quad CSI multiplexer:

ArduCam Multi-Camera Adapter for Jetson (~$40 USD)
Or Arducam Camarray HAT (hardware sync option)
TODO: Confirm Orin Nano compatibility before ordering

Processing Pipeline (on Orin Nano @ 67 TOPS)

4× IMX219 (CSI) ──→ Jetson ISP (hardware) ──→ TensorRT inference
                                                ├── Person detection (all 4 streams)
                                                ├── Object classification
                                                └── Optical flow / motion

RealSense (USB3) ──→ depth + RGB ──→ SLAM (slam_toolbox)
                                  ──→ obstacle avoidance (Nav2 costmap)

RPLIDAR (USB) ──→ 2D scan ──→ SLAM (primary scan source)

Total Sensor Budget

Sensor	Interface	Power	Weight
4× IMX219	CSI (0W USB)	~1W total	~20g total
RealSense D435i	USB3	~1.5W	72g
RPLIDAR A1	USB	~2W	170g
BME280	I2C (on FC)	~0.01W	2g
Total		~4.5W	~264g