Drives ORBVisualOdometry directly on raw EuRoC frames, bypassing ESKF and
satellite layers. ORB achieves 100% tracking on 99 frame pairs, confirming
that vo_success=0 in the full pipeline is caused by SequentialVisualOdometry's
MockInferenceEngine (random keypoints → RANSAC failure), not by VO backend
limitations on EuRoC indoor imagery.
Two tests: tracking rate ≥70% (passes, currently 100%), and sanity check
that at least one pair yields non-zero inliers (passes).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Yuzviak