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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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# Component Fit Matrix
## Top-Level Matrix
| Component Area | Candidate | Pinned Mode/Config | Option Family | Intended Role | API Capability Evidence | Mismatches / Disqualifiers | Status | Decision Rationale |
|----------------|-----------|--------------------|---------------|---------------|-------------------------|----------------------------|--------|--------------------|
| Calibration / geometry | OpenCV 4.x | C++/Python calibration, undistortion, RANSAC homography, reprojection-error measurement | Established production / open-source | Camera intrinsics, image normalization, VO/satellite homography verification | MVE: `02_fact_cards.md` OpenCV block; Source #5 | None | Selected | Exact API fit and permissive utility role. |
| VO / IMU propagation | BASALT + project-owned safety/anchor wrapper | BASALT VIO consumes calibrated nav-camera frames + FC IMU; wrapper fuses satellite anchors, calibrates uncertainty, emits source labels and GPS_INPUT semantics | Open-source production candidate | Relative VIO state, completion/error benchmark, wrapped covariance/confidence, degraded modes, GPS_INPUT semantics | Sources #33-#35; Facts #37, #40, #41 | BASALT covariance/confidence must be calibrated in wrapper; no special nadir mode | Selected | User-selected best production trade-off: permissive licensing and stronger benchmark/completion evidence than OpenVINS/Kimera, with wrapper covering project-specific safety semantics. |
| VO / VIO reference | OpenVINS | Monocular camera + IMU EKF/MSCKF reference runs with covariance extraction | Open-source research | Benchmark and covariance reference | Sources #3, #27, #28, #35, #38; Facts #4, #30, #38 | GPL-3 production dependency risk; completion/divergence risk on some sequences; does not own satellite anchor / GPS_INPUT / blackout / cache-write state machine | Reference only | Best covariance baseline, but not selected as shipped production dependency. |
| VO / VIO backup | Kimera-VIO | Mono/stereo camera + IMU VIO/SLAM backup candidate | Open-source production candidate / fallback | Alternative VIO baseline | Sources #34, #36; Fact #39 | Heavier/stereo-oriented; mono-inertial path has documented parameter caveats | Backup candidate | BSD-friendly backup if BASALT fails project replay/runtime gates. |
| VO / SLAM alternative | ORB-SLAM3 | Monocular-inertial SLAM | Open-source research | Benchmark and failure-mode comparison | Source #4, Fact #5 | GPLv3; heavier SLAM/map lifecycle than required | Rejected | Does not fit licensing/scope for production. |
| VPR descriptors | DINOv2-VLAD / AnyLoc-style | Precomputed satellite chunk descriptors; conditional query descriptor on relocalization triggers; TensorRT path only after embedding-fidelity check | Current SOTA / research | Global top-K candidate retrieval | Sources #7, #8, #21, #22, #30, #32; Facts #10, #11, #24, #33, #34, #36 | Runtime and embedding-fidelity gates on Jetson; model-size/index-size selection required | Selected with runtime gate | Best evidence for change-robust VPR, but not per-frame and not blindly TensorRT-converted. |
| Vector retrieval | FAISS | CPU-first aarch64 index; saved/loaded index over float/PQ descriptors; GPU only if custom Jetson build is proven | Established production / open-source | Top-K candidate chunk search | MVE: `02_fact_cards.md` FAISS block; Sources #9, #25 | GPU FAISS not default on Jetson ARM64 | Selected | Exact top-K descriptor retrieval fit with CPU-first deployment. |
| Local matching | LightGlue + DISK/ALIKED | CUDA/ONNX-profiled DISK or ALIKED feature extraction + LightGlue matching on bounded top-K candidates | Current SOTA / open-source | 2D-2D correspondences for RANSAC and MRE | MVE: `02_fact_cards.md` LightGlue block; Sources #6, #23, #31 | Runtime quality gate; extractor choice must avoid SuperPoint license issue | Selected with runtime gate | Exact input/output fit with deployable licensing path; ALIKED/LightGlue is preferred for anchor verification. |
| Local matching fallback | SuperPoint + LightGlue | SuperPoint features + LightGlue | Current SOTA / license-gated | Optional benchmark/fallback | Source #6 | SuperPoint restrictive license | Needs user decision | Do not use as default production dependency without legal review. |
| Cache imagery | COG + manifest/sidecar | Tiled compressed GeoTIFF tile objects with CRS, capture date, source, m/px, freshness, descriptor sidecars; write-new-object lifecycle | Established geospatial format | Immutable service tiles and generated candidate tiles | Source #18, Facts #21, #29 | No in-place mutation; manifest manages active tile version | Selected | Fits geospatial raster access and write-new-tile workflow. |
| Cache packaging | PMTiles | Read-only tile archive | Established web-map archive | Optional export/snapshot | Source #17, Fact #20 | Cannot update in place | Rejected for live cache | In-flight tile generation needs mutable write-new objects. |
| MAVLink | MAVSDK + pymavlink | MAVSDK telemetry subscriptions; pymavlink/raw MAVLink `GPS_INPUT` emission to ArduPilot `GPS1_TYPE=14`; velocity source/ignore-flag behavior SITL-tested | Established APIs | FC telemetry, QGC status, GPS substitute output | MVE: `02_fact_cards.md` MAVSDK/pymavlink block; Sources #10-#12, #24 | Plane SITL behavior and velocity-source parameters must be validated | Selected | Exact output contract with known ArduPilot pitfall covered. |
| Validation | EuRoC + AerialVL/VPAir + Plane SITL + representative flight | Layered validation suite | Test strategy | Prove ACs before production | Sources #19, #20 | Public data not sufficient for final proof | Selected | Covers component de-risking plus final representative proof. |
## Restrictions Cross-Check — Selected Production Architecture
| Restriction | Candidate-mode behavior | Result | Evidence |
|-------------|-------------------------|--------|----------|
| Fixed-wing only | Architecture assumes forward motion, rare sharp turns, no hover dependency. | Pass | Problem context; Source #1 |
| Fixed nadir nav camera | VO/orthorectification uses fixed camera extrinsics; attitude compensation from FC. | Pass | Source #5 |
| Operational area / flat terrain | Flat terrain assumption supported; repetitive agricultural terrain handled as validation class and confidence risk. | Pass | Source #2 |
| Weather/season classes | Validation matrix includes seasonal/visibility classes. | Pass | `05_validation_log.md` |
| Two-camera split | Nav camera drives localization; AI camera object localization uses current GPS-denied state and AI gimbal/zoom. | Pass | AC-7.1/7.2 |
| Satellite Service offline boundary | Runtime uses local COG/cache + FAISS descriptors only; no in-flight provider fetch. | Pass | Sources #17, #18 |
| Freshness gates | Tile manifest carries capture date and sector; stale tiles rejected/down-weighted. | Pass | AC-8.2, AC-NEW-6 |
| Jetson Orin Nano Super | Hot path is lightweight; heavy VPR conditional; runtime profiling gate required. | Pass | Sources #15, #16 |
| MAVLink / ArduPilot only | MAVSDK telemetry + pymavlink `GPS_INPUT`, `GPS1_TYPE=14`. | Pass | Sources #10-#12 |
| No raw frame storage | FDR keeps estimates, telemetry, tiles, and low-rate failure thumbnails only. | Pass | AC-8.5, AC-NEW-3 |
## AC Cross-Check — Selected Production Architecture
| AC | Candidate-mode behavior | Result | Evidence |
|----|-------------------------|--------|----------|
| AC-1.1 | Satellite anchors and ESKF output target <=50 m for >=80% normal frames. | Pass | Facts #1, #2 |
| AC-1.2 | Same pipeline targets <=20 m for >=50% normal frames; validated statistically. | Pass | `05_validation_log.md` |
| AC-1.3 | ESKF tracks anchor age and covariance; VO-only and IMU-fused drift measured between anchors. | Pass | Fact #1 |
| AC-1.4 | ESKF emits covariance; telemetry/FDR carries source label. | Pass | Fact #16 |
| AC-2.1a | VO hot path handles normal overlapping frames; failures trigger mode change. | Pass | Facts #1, #6 |
| AC-2.1b | Satellite anchor success measured separately through VPR + local match + RANSAC. | Pass | Facts #2, #7, #12 |
| AC-2.2 | OpenCV/LightGlue provide correspondences and homography MRE measurement. | Pass | Facts #6, #7 |
| AC-3.1 | ESKF innovation gates reject outliers; covariance grows instead of trusting jumps. | Pass | Reasoning chain |
| AC-3.2 | Sharp turn VO failure triggers VPR relocalization. | Pass | AC design; Source #2 |
| AC-3.3 | Disconnected segment handled by global retrieval and pose-graph/ESKF re-anchor. | Pass | Source #2 |
| AC-3.4 | Loss counter and timer trigger GCS relocalization request while dead reckoning continues. | Pass | AC design |
| AC-3.5 | Image-quality/blackout state switches to IMU-only and rejects spoofed GPS. | Pass | AC design; Facts #16, #17 |
| AC-4.1 | Heavy VPR is conditional; steady-state path is VO/IMU. Jetson profiling is a runtime quality gate. | Pass | Facts #3, #18 |
| AC-4.2 | Descriptor/index memory is budgeted; FAISS and cache are precomputed/pruned. | Pass | Facts #12, #13 |
| AC-4.3 | `GPS_INPUT` emitted by pymavlink; ODOMETRY remains disabled in v1. | Pass | Facts #14-#16 |
| AC-4.4 | Estimator emits frame-by-frame; no batching required. | Pass | Architecture |
| AC-4.5 | Corrections are emitted as updated estimates with timestamps and covariance. | Pass | Architecture |
| AC-5.1 | Startup initializes from last trusted FC state plus IMU propagation. | Pass | Architecture |
| AC-5.2 | >3 s no-estimate path enters degraded/failsafe behavior; Plane SITL proves FC response. | Pass | Fact #17 |
| AC-5.3 | Cold restart uses FC state and preloaded cache/index. | Pass | AC-NEW-1 |
| AC-6.1 | QGC receives downsampled status; FDR keeps high-rate details. | Pass | MAVSDK telemetry + FDR design |
| AC-6.2 | Command ingress reserved through MAVLink status/named values/custom dialect. | Pass | MAVLink design |
| AC-6.3 | `GPS_INPUT` lat/lon is WGS84. | Pass | Fact #16 |
| AC-7.1 | Object localization exposes level-flight accuracy and maneuver bound. | Pass | Geometry design |
| AC-7.2 | Flat-terrain trig projection from UAV GPS + gimbal/zoom/altitude. | Pass | Geometry design |
| AC-8.1 | Cache contract requires 0.3-0.5 m/px imagery. | Pass | Restrictions |
| AC-8.2 | Freshness metadata gates anchors. | Pass | Restrictions |
| AC-8.3 | Precomputed descriptors and FAISS index are part of cache budget. | Pass | Facts #10, #12, #13 |
| AC-8.4 | Generated tiles are new COGs with quality metadata for Service ingest. | Pass | Fact #21 |
| AC-8.5 | Raw frames are not retained. | Pass | FDR design |
| AC-8.6 | VPR chunks use overlap/multi-scale descriptors and dynamic K. | Pass | Facts #2, #12 |
| AC-NEW-1 | Engines/indexes built before flight; first fix benchmark validates <30 s. | Pass | Runtime plan |
| AC-NEW-2 | Plane SITL verifies spoofing trigger and promotion <3 s. | Pass | Fact #17 |
| AC-NEW-3 | FDR segment rollover validates <=64 GB. | Pass | Validation plan |
| AC-NEW-4 | Mahalanobis gates and calibrated covariance target false-position budget. | Pass | ESKF design |
| AC-NEW-5 | Thermal profiling at 25 W validates no throttle. | Pass | Facts #18, #19 |
| AC-NEW-6 | Tile age rejection/down-weighting built into anchor gate. | Pass | AC design |
| AC-NEW-7 | Tile writes require parent-pose covariance and sidecar metadata; Satellite Service voting is external contract. | Pass | AC design |
| AC-NEW-8 | Dead-reckoned blackout mode degrades `GPS_INPUT` fields at covariance thresholds. | Pass | Facts #16, #17 |
## Decision Rules Applied
- No GPL VIO/SLAM library is selected as a production dependency.
- Runtime gates are classified as runtime-quality validation gates, not API capability blockers.
- Every selected component has an exact input/output role and a validation path.
- Any candidate with license uncertainty is marked `Needs user decision` or non-production.
## Mode B Revisions Applied
- FAISS pinned mode changed to CPU-first on Jetson ARM64.
- DINOv2 TensorRT path requires descriptor-fidelity validation against PyTorch/ONNX.
- `GPS_INPUT` tests now include velocity-source and ignore-flag behavior.
- COG cache lifecycle clarified as write-new-object plus manifest versioning, not in-place mutation.
- Visual/satellite security controls now include signed manifests, cache provenance, stale-tile rejection, and multi-signal consistency checks.
## Mode B Round 2 Revisions Applied
- OpenVINS is explicitly better than naive OpenCV-only VIO, but remains reference-only because the shipped estimator must own source labels, covariance gates, spoofing/blackout states, cache-write eligibility, and MAVLink semantics.
- The selected VO wording is now "OpenCV geometry + project-owned ESKF" to avoid implying a fragile OpenCV-only odometry implementation.
- DINOv2-VLAD + CPU-first FAISS + ALIKED/LightGlue remains selected for satellite retrieval and anchor verification, with retrieval limited to relocalization triggers and bounded top-K verification.
- SIFT/ORB remains a regression/fallback baseline; SuperPoint remains non-production until legal approval.
## Mode B Round 3 Revisions Applied
- BASALT is selected as the production VIO candidate.
- OpenVINS remains the covariance/reference baseline, not a shipped dependency by default.
- Kimera-VIO remains a backup VIO candidate because its license is production-friendly but mono-inertial caveats make it weaker for the single-nadir-camera path.
- The project-owned safety/anchor wrapper remains mandatory around BASALT for satellite anchor acceptance, source labels, blackout/spoofing modes, cache-write eligibility, calibrated confidence, and MAVLink `GPS_INPUT`.