@Tamilselvan For the previously mentioned use case of "having a 360° obstacle avoidance and VIO" for indoor inspection drone, can the following camera configuration be used?
: - One "Image Sensor 4k High-resolution, Low-light Sensor for VOXL (Starvis IMX412 w/ micro-coax & M12-style Lens) (MSU-M0161)" in the front side for video streaming & recording and QR code identification.
&
Five PMD TOF sensors on the front, back, left, right and top sides for SLAM & obstacle avoidance.