mirror of
https://github.com/azaion/gps-denied-desktop.git
synced 2026-04-22 22:46:36 +00:00
Oleksandr Bezdieniezhnykh
33 lines
2.8 KiB
Markdown
33 lines
2.8 KiB
Markdown
- 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.
|
|
|
|
- The whole system should work as a background service exposed via REST API with Server-Sent Events (SSE) for real-time streaming. Service should be up and running and awaiting for the initial request. On the request processing should start, and immediately after the first results system should provide them to the client via SSE stream
|
|
|
|
- Satellite reference imagery resolution must be at least 0.5 m/pixel, ideally 0.3 m/pixel
|
|
|
|
- System should report a confidence score per position estimate (high = satellite-anchored, low = VO-extrapolated with drift)
|
|
|
|
- Output coordinates in WGS84 format (GeoJSON or CSV)
|
|
|
|
- Satellite imagery for the operational area should be less than 2 years old where possible
|
|
|
|
- Maximum cumulative VO drift between satellite correction anchors should be less than 100 meters
|
|
|
|
- Memory usage should stay below 16GB RAM and 6GB VRAM to ensure RTX 2060 compatibility |