1. Sensor Mounting Guide Introduction
1.1. Scope
This guide is intended for robotics enthusiasts and professionals who want to integrate NVIDIA Nova Orin and NVIDIA Isaac software modules into their products. NVIDIA Isaac software modules, such as Isaac Perceptor, introduce vision-based artificial intelligence to tackle perception challenges encountered by autonomous mobile robots (AMRs) that are operating in highly unstructured environments. These challenges include robust odometry, depth perception, obstacle mapping, localization and more.
NVIDIA Nova Orin is sensor and compute architecture based on NVIDIA Orin System-on-Chip (SoC), for AMR applications. Nova is fully compatible with Isaac software modules and can interface with other AMR sub-systems.
By leveraging NVIDIA Nova hardware and NVIDIA Isaac software, customers can rapidly deliver AMRs for their applications achieving the highest levels of performance while cutting the engineering cost and mitigating uncertainties.
In the Reference section of this chapter the reader will find a document that explains how to build an NVIDIA Orin-based computer compatible with Nova Orin architecture, as well as how to connect sensors described in this document to the Orin-based computer. In this document the reader will learn where to mount Nova sensors on a robot to be compatible with Isaac software modules and to achieve optimal performance. However, because the robotics market is very fragmental and robots’ geometries vary substantially from one application to another, there is no one single sensor architecture that fits all. This guide demonstrates in detail two very different sensor architectures - one for a top-carrier robot and another for a reach forklift. The guide provides sensor coverage requirements which are not tightly coupled to the specific robot geometry as well as mounting position and orientation envelopes. We hope that by reading these examples and requirements, the reader will be able to devise optimal sensor architecture for their specific application.
1.2. Nova Sensors Early Adopters List
NVIDIA Nova hardware architecture and NVIDIA Isaac software modules, including Isaac Perceptor, are fully compatible with the following sensors available on the market:
Sensor Type |
I/O |
Part Name |
Manufacturer |
Details |
HFOV |
VFOV |
|---|---|---|---|---|---|---|
Stereo Camera |
GMSL2 |
Hawk LI-AR0234CS-STEREO-GMSL2 |
Leopard Imaging |
2.3 MP RGGB |
121.5 |
73.5 |
Camera |
GMSL2 |
Owl LI-AR0234CS-GMSL2-OWL |
Leopard Imaging |
2.3 MP RGGB |
202.0 +/- 3 |
127.2 +/- 2 |
IMU |
I2C |
BMI088 |
Bosch |
12.5 - 1600 Hz |
1.3. References
NVIDIA Nova Orin Hardware Design Guide (DG-11582-001). This information is not publicly available. Please contact your NVIDIA representative for details.