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Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

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Oleksandr Bezdieniezhnykh
2026-05-01 16:24:46 +03:00
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_docs/00_research/03_comparison_framework.md
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# Comparison Framework
## Selected Framework Type
Decision support with exact-fit component selection.
## Selected Dimensions
1. Required inputs/outputs and ownership boundaries
2. Operating context and lifecycle fit
3. Non-functional envelope fit: latency, memory, storage, thermal, safety
4. Licensing and deployability
5. Evidence quality and validation burden
6. Security and safety failure modes
7. Selection status
## Initial Population
| Component Area | Candidate | Option Family | Inputs / Outputs | Fit Summary | Status |
|----------------|-----------|---------------|------------------|-------------|--------|
| Calibration / geometry | OpenCV 4.x | Established production / open-source | image/object points -> intrinsics, distortion, homography, inlier mask | Exact utility fit; permissive production use. | Selected |
| VO / VIO | BASALT + project-owned safety/anchor wrapper | Open-source production candidate | nav frames + FC IMU/calibration -> relative VIO state; wrapper adds source labels, anchor fusion, calibrated confidence, and MAVLink semantics | Best production candidate after user decision: permissive license, strong benchmark evidence, and lower implementation burden than custom VIO. | Selected |
| VO / VIO | OpenVINS | Open-source research | monocular camera + IMU -> VIO state/covariance | Best covariance/reference story, but GPL-3 and generic VIO ownership make it a benchmark/reference rather than shipped core. | Reference only |
| VO / VIO | Kimera-VIO | Open-source production candidate / fallback | mono or stereo camera + IMU -> VIO/SLAM outputs | BSD-friendly, but heavier/stereo-oriented and mono-inertial path has documented parameter caveats. | Backup candidate |
| VO / VIO | OpenCV geometry + project-owned ESKF | Custom fallback | nav frames + FC IMU/attitude/altitude + satellite anchors -> relative motion, absolute updates, covariance, source labels | Fallback if BASALT fails project data/runtime tests; still needed as safety/anchor wrapper around any VIO library. | Fallback / wrapper |
| VO / VIO | ORB-SLAM3 | Open-source research | monocular/stereo/RGB-D + optional IMU -> SLAM pose | Useful benchmark; GPLv3, map runtime, and initialization complexity make it poor production dependency. | Rejected for production |
| Global retrieval | DINOv2-VLAD / AnyLoc-style descriptors | Current SOTA / research | image/chunk -> descriptor | Strong VPR evidence; trigger-only use due runtime/memory and TensorRT fidelity risk. | Selected with runtime gate |
| Vector retrieval | FAISS | Established production / open-source | descriptor matrix + query -> top-K IDs | Exact fit for offline VPR chunk retrieval. | Selected |
| Local matching | LightGlue + DISK/ALIKED | Current SOTA / open-source | two images -> keypoint correspondences/scores | Exact local-match interface; avoids SuperPoint license issue. | Selected with runtime gate |
| Local matching | SuperPoint + LightGlue | Current SOTA / known-bad/licensing caveat | two images -> matches | Technically good; licensing requires explicit review. | Needs user decision / fallback only |
| Cache imagery | COG + manifest + sidecars | Established geospatial format | georeferenced raster + metadata -> efficient local reads | Good immutable tile unit; generated tiles can be written as new COGs. | Selected |
| Cache packaging | PMTiles | Established web-map archive | tile pyramid -> single archive | Efficient reads, but read-only; not suitable for in-flight mutable writes. | Rejected for mutable cache |
| Estimator | Custom ESKF mode machine | Custom production | VO/IMU/VPR/GPS-health -> WGS84 state + covariance + label | Needed for source labels, covariance gates, blackout/spoofing behavior. | Selected |
| MAVLink integration | MAVSDK + pymavlink | Established APIs | telemetry in, `GPS_INPUT` out | MAVSDK handles telemetry; pymavlink handles raw `GPS_INPUT`. | Selected |
| FDR | PostgreSQL event index + CBOR payload segments with optional Parquet export | Established storage | frame estimates, IMU, MAVLink, health, tiles -> bounded replayable log | Matches project PostgreSQL choice while keeping compact append payloads. | Selected pattern |
| Validation | AerialVL + EuRoC + Plane SITL + representative flight | Multi-source test strategy | datasets/sim/flight -> AC evidence | Public data is partial; final representative data is mandatory. | Selected |
## Round 2 Decision Notes
- **OpenVINS vs custom OpenCV**: OpenVINS wins if the comparison is against a naive OpenCV-only VIO implementation. The selected design is not that; it is OpenCV geometry plus a product-owned estimator/state machine, with OpenVINS used as a benchmark/reference.
- **Satellite retrieval**: DINOv2-VLAD remains the best global candidate generator found, but aerial VPR sources require chunk scale/overlap tuning, dynamic top-K, and geometric verification.
- **Anchor verification**: ALIKED/LightGlue remains the preferred learned local matcher, while SIFT/ORB stays as a regression/fallback baseline and SuperPoint remains license-gated.
## Round 3 Decision Notes
- **User decision**: BASALT is selected as the production VIO candidate.
- **Confidence/covariance**: OpenVINS remains the covariance/reference baseline because its EKF exposes clearer uncertainty semantics than BASALT/Kimera.
- **Nadir support**: no compared VIO library has a special fixed-wing nadir mode; the acceptance path is calibration, altitude/scale constraints, satellite anchors, and representative replay validation.
## Baseline Alignment
- "Position estimate" means WGS84 frame center emitted to FC plus a 95% covariance semi-major axis and source label.
- "Satellite anchored" means a visual match passed VPR retrieval, local matching, RANSAC, freshness, covariance, and Mahalanobis gates.
- "Normal flight segment" means the AC-2.1a conditions, not turns/blackout/stale imagery.
- "Selected with runtime gate" means the API capability fits, but final deployment depends on Jetson profiling against AC-4.1 and AC-4.2.