Question: I already tried this <http://hg.orfeo-toolbox.org/OTB-Qgis-plugins/> repository and couldn't get it...

This guy seems to have it: <http://www.elance.com/samples/orfeo-toolbox-qgis/24111664/>

Answer: 
Here are some resources that answer your question:

<http://wiki.orfeo-toolbox.org/index.php/Quantum_GIS_plugins>

<http://osgeo-org.1803224.n2.nabble.com/Is-there-a-way-of-installing-the-qgis-plugin-for-ORFEO-Toolbox-OTB-td5963420.html>
The right way is to install the new analysis framework and then the (new) plugins for Orfeo (and SAGA).

Announcement and instructions:

<http://lists.osgeo.org/pipermail/qgis-user/2011-October/013923.html>