# Question Decomposition

## Original Question
Assess current solution draft. Additionally:
1. Try SuperPoint + LightGlue for visual odometry
2. Can LiteSAM be SO SLOW because of big images? If we reduce size to 1280p, would that work faster?

## Active Mode
Mode B: Solution Assessment — `solution_draft01.md` exists in OUTPUT_DIR.

## Question Type
Problem Diagnosis + Decision Support

## Research Subject Boundary
- **Population**: GPS-denied UAV navigation systems on edge hardware
- **Geography**: Eastern Ukraine conflict zone
- **Timeframe**: Current (2025-2026), using latest available tools
- **Level**: Jetson Orin Nano Super (8GB, 67 TOPS) — edge deployment

## Decomposed Sub-Questions

### Q1: SuperPoint + LightGlue for Visual Odometry
- What is SP+LG inference speed on Jetson-class hardware?
- How does it compare to cuVSLAM (116fps on Orin Nano)?
- Is SP+LG suitable for frame-to-frame VO at 3fps?
- What is SP+LG accuracy vs cuVSLAM for VO?

### Q2: LiteSAM Speed vs Image Resolution
- What resolution was LiteSAM benchmarked at? (1184px on AGX Orin)
- How does LiteSAM speed scale with resolution?
- What would 1280px achieve on Orin Nano Super vs AGX Orin?
- Is the bottleneck image size or compute power gap?

### Q3: General Weak Points in solution_draft01
- Are there functional weak points?
- Are there performance bottlenecks?
- Are there security gaps?

### Q4: SP+LG for Satellite Matching (alternative to LiteSAM/XFeat)
- How does SP+LG perform on cross-view satellite-aerial matching?
- What does the LiteSAM paper say about SP+LG accuracy?

## Timeliness Sensitivity Assessment
- **Research Topic**: Edge-deployed visual odometry and satellite-aerial matching
- **Sensitivity Level**: 🟠 High
- **Rationale**: cuVSLAM v15.0.0 released March 2026; LiteSAM published October 2025; LightGlue TensorRT optimizations actively evolving
- **Source Time Window**: 12 months
- **Priority official sources**:
  1. LiteSAM paper (MDPI Remote Sensing, October 2025)
  2. cuVSLAM / PyCuVSLAM v15.0.0 (March 2026)
  3. LightGlue-ONNX / TensorRT benchmarks (2024-2026)
  4. Intermodalics cuVSLAM benchmark (2025)
- **Key version information**:
  - cuVSLAM: v15.0.0 (March 2026)
  - LightGlue: ICCV 2023, TensorRT via fabio-sim/LightGlue-ONNX
  - LiteSAM: Published October 2025, code at boyagesmile/LiteSAM
