azaion/gps-denied-desktop
1
0
Fork 0
mirror of https://github.com/azaion/gps-denied-desktop.git synced 2026-04-23 00:56:36 +00:00
Code Issues Packages Projects Releases Wiki Activity

went through 4 iterations of solution draft. Right now it is more or less consistent and reliable

Browse Source
This commit is contained in:
Oleksandr Bezdieniezhnykh
2025-11-10 20:26:40 +02:00
parent 044a90b96f
commit e87c33b0ee
21 changed files with 2323 additions and 2055 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/00_problem/acceptance_criteria.md
+19 -9
View File
@@ -1,9 +1,19 @@
- System should find out GPS of centers of 80% of the photos from the flight within error no more than 50 meters in comparison to the real GPS
- System should find out GPS of centers of 60% of the photos from the flight within error no more than 20 meters in comparison to the real GPS
- System should correctly continue the work even in a presence of up to 350 meters outlier photo between 2 consecutive photos en route. This could happen due to tilt of the plane.
- System should correctly continue the work even during sharp turns, where the next photo doesn't overlap at all, or overlaps in less than 5%. Next photo should be in less than 150m drift and angle less than 50%
- Number of outliers during the satellite provider images ground check should be less than 10%
- In case of absolute incapable of the system to determine next, second next, and third next images gps, by any methods, (these 20% of the route), then it should ask user for an input for the next image, so that user can specify location
- Less than 2 seconds for processing one image
- Image Registration Rate > 95%. System can find enough matching features to confidently calculate the camera's 6-DoF pose (position and orientation) and "stitch" that image into the final trajectory
- Mean Reprojection Error (MRE) < 1.0 pixels. The distance, in pixels, between the original pixel location of the object and the re-projected pixel location.
- The system should find out the GPS of centers of 80% of the photos from the flight within an error of no more than 50 meters in comparison to the real GPS
- The system should find out the GPS of centers of 60% of the photos from the flight within an error of no more than 20 meters in comparison to the real GPS
- The system should correctly continue the work even in the presence of up to 350 meters of an outlier photo between 2 consecutive pictures en route. This could happen due to tilt of the plane.
- System should correctly continue the work even during sharp turns, where the next photo doesn't overlap at all, or overlaps in less than 5%. The next photo should be in less than 200m drift and at an angle of less than 70%
- System should try to operate when UAV made a sharp turn, and all the next photos has no common points with previous route. In that situation system should try to figure out location of the new piece of the route and connect it to the previous route. Also this separate chunks could be more than 2, so this strategy should be in the core of the system
- In case of being absolutely incapable of determining the system to determine next, second next, and third next images GPS, by any means (these 20% of the route), then it should ask the user for input for the next image, so that the user can specify the location
- Less than 5 seconds for processing one image
- Results of image processing should appear immediately to user, so that user shouldn't wait for the whole route to complete in order to analyze first results. Also, system could refine existing calculated results and send refined results again to user
- Image Registration Rate > 95%. The system can find enough matching features to confidently calculate the camera's 6-DoF pose (position and orientation) and "stitch" that image into the final trajectory
- Mean Reprojection Error (MRE) < 1.0 pixels. The distance, in pixels, between the original pixel location of the object and the re-projected pixel location.