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Oleksandr Bezdieniezhnykh af5eb13ecb update GPS-denied onboard research docs
2026-04-29 17:03:57 +03:00

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Source Registry

Source #1

  • Title: ArduPilot MAVProxy GPS Input documentation
  • Link: https://ardupilot.org/mavproxy/docs/modules/GPSInput.html
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: ArduPilot/MAVProxy docs accessed 2026-04-29
  • Target Audience: ArduPilot developers/operators
  • Research Boundary Match: Full match
  • Summary: GPSInput forwards JSON GPS data to the flight controller and requires GPS1_TYPE=14 for MAVLink GPS input.
  • Related Sub-question: Flight-controller output path

Source #2

  • Title: MAVLink common message spec — GPS_INPUT
  • Link: https://mavlink.io/en/messages/common.html#GPS_INPUT
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: MAVLink common.xml accessed 2026-04-29
  • Target Audience: MAVLink integrators
  • Research Boundary Match: Full match
  • Summary: GPS_INPUT is a raw GPS sensor input message, not the global position estimate; all non-ignored fields must be provided.
  • Related Sub-question: MAVLink output and covariance

Source #3

  • Title: ArduPilot issue #30076 — Fixing ExternalNav + GPS
  • Link: https://github.com/ArduPilot/ardupilot/issues/30076
  • Tier: L4
  • Publication Date: 2025-05-15
  • Timeliness Status: Currently relevant, but version-specific
  • Version Info: ArduPilot 4.6 beta context; issue marked closed by 2025-12-03
  • Target Audience: ArduPilot EKF developers
  • Research Boundary Match: Full match
  • Summary: Documents a real EKF3 issue where GPS and external navigation could be fused unexpectedly, motivating version-pinned SITL before enabling ODOMETRY alongside GPS.
  • Related Sub-question: Safe ArduPilot integration

Source #4

  • Title: NVIDIA Jetson Orin Nano Developer Kit Gets a Super Boost
  • Link: https://developer.nvidia.com/blog/nvidia-jetson-orin-nano-developer-kit-gets-a-super-boost
  • Tier: L2
  • Publication Date: 2024-12-17
  • Timeliness Status: Currently valid as of access date
  • Version Info: JetPack 6.1 Super mode
  • Target Audience: Jetson edge AI developers
  • Research Boundary Match: Full match
  • Summary: Confirms Jetson Orin Nano Super 67 sparse TOPS, 8 GB LPDDR5, 102 GB/s memory bandwidth, and 25 W mode.
  • Related Sub-question: Onboard runtime feasibility

Source #5

Source #6

  • Title: NVIDIA Isaac ROS cuVSLAM documentation
  • Link: https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/index.html
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: Isaac ROS latest docs accessed 2026-04-29
  • Target Audience: Robotics developers
  • Research Boundary Match: Partial overlap
  • Summary: cuVSLAM is GPU-accelerated stereo-visual-inertial SLAM and can use IMU fallback, but its primary fit is stereo, not v1 monocular nadir camera.
  • Related Sub-question: VO/VIO candidate fit

Source #7

  • Title: ORB-SLAM3 repository/license
  • Link: https://github.com/UZ-SLAMLab/ORB_SLAM3
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Requires license review
  • Version Info: GPLv3; release v1.0, active repo updates observed in search
  • Target Audience: SLAM researchers/developers
  • Research Boundary Match: Partial overlap
  • Summary: Supports monocular-inertial SLAM but GPLv3 is a commercial/product integration risk.
  • Related Sub-question: VO/VIO candidate fit

Source #8

  • Title: VINS-Fusion repository/license
  • Link: https://github.com/HKUST-Aerial-Robotics/VINS-Fusion
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Requires license review
  • Version Info: GPL-3.0
  • Target Audience: Robotics/VIO developers
  • Research Boundary Match: Partial overlap
  • Summary: Supports monocular + IMU visual-inertial estimation, but GPL-3.0 and ROS-centric integration make it unsuitable as a direct embedded production dependency without approval.
  • Related Sub-question: VO/VIO candidate fit

Source #9

  • Title: LightGlue / SuperPoint TensorRT ecosystem
  • Link: https://github.com/cvg/LightGlue and https://github.com/yuefanhao/SuperPoint-LightGlue-TensorRT
  • Tier: L1/L4
  • Publication Date: n/a
  • Timeliness Status: Needs license and Jetson benchmark verification
  • Version Info: LightGlue Apache-2.0; SuperPoint weights have separate MagicLeap license
  • Target Audience: CV developers
  • Research Boundary Match: Full match for local matching, partial for licensing
  • Summary: LightGlue/SuperPoint is a strong local matching candidate, but SuperPoint weight licensing and Orin Nano performance must be validated before product selection.
  • Related Sub-question: Local cross-view matcher

Source #10

  • Title: AnyLoc visual place recognition
  • Link: https://github.com/AnyLoc/AnyLoc and https://arxiv.org/pdf/2308.00688
  • Tier: L1
  • Publication Date: 2023
  • Timeliness Status: Currently useful, but benchmark against project data required
  • Version Info: BSD-3-Clause, DINOv2-based VPR
  • Target Audience: Robotics/VPR researchers
  • Research Boundary Match: Partial overlap
  • Summary: DINOv2 + VLAD VPR generalizes across domains and is suitable for offline descriptor generation plus event-triggered online retrieval.
  • Related Sub-question: VPR strategy

Source #11

  • Title: FAISS installation and GPU package support
  • Link: https://github.com/facebookresearch/faiss/blob/master/INSTALL.md
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Needs direct build validation on Jetson
  • Version Info: Search result notes GPU packages are x86-64 only; ARM64 GPU requires source build
  • Target Audience: Vector search developers
  • Research Boundary Match: Full match
  • Summary: FAISS CPU is viable on ARM64; FAISS GPU on Jetson may require source build and should not be assumed for v1.
  • Related Sub-question: VPR index runtime

Source #12

  • Title: Fixed-wing satellite-aided visual odometry paper
  • Link: https://www.mdpi.com/2076-3417/14/16/7420
  • Tier: L1
  • Publication Date: 2024
  • Timeliness Status: Currently relevant
  • Version Info: Applied Sciences 14(16), 7420
  • Target Audience: UAV navigation researchers
  • Research Boundary Match: Full match
  • Summary: Demonstrates fixed-wing GPS-denied visual odometry aided by satellite imagery over >17 km and >1000 m altitude, reducing accumulated error.
  • Related Sub-question: Accuracy and architecture feasibility

Source #13

  • Title: Cross-view UAV/satellite geolocalization paper
  • Link: https://www.mdpi.com/1424-8220/24/12/3719
  • Tier: L1
  • Publication Date: 2024
  • Timeliness Status: Currently relevant
  • Version Info: Sensors 24(12), 3719
  • Target Audience: UAV visual localization researchers
  • Research Boundary Match: Partial overlap
  • Summary: Shows current UAV-to-satellite localization research addressing cross-source appearance and similar-scene interference.
  • Related Sub-question: Cross-view matching risks

Source #14

  • Title: Airbus Pléiades Neo imagery
  • Link: https://www.airbus.com/en/pleiades-neo-satellite-imagery
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: Official Airbus page
  • Target Audience: Satellite imagery customers
  • Research Boundary Match: Full match for imagery resolution
  • Summary: Confirms 30 cm native imagery and 3.5 m CE90 location accuracy.
  • Related Sub-question: Satellite cache SLA

Source #15

  • Title: Vantor/Maxar WorldView Legion page
  • Link: https://www.maxar.com/worldview-legion
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: Official Vantor/Maxar page
  • Target Audience: Satellite imagery customers
  • Research Boundary Match: Full match for imagery resolution
  • Summary: Confirms 30 cm-class imagery capacity and native <5 m CE90 accuracy.
  • Related Sub-question: Satellite cache SLA

Source #16

  • Title: OpenStreetMap zoom levels
  • Link: https://wiki.openstreetmap.org/wiki/Zoom_levels
  • Tier: L2
  • Publication Date: n/a
  • Timeliness Status: Currently valid for WebMercator math
  • Version Info: Accessed 2026-04-29
  • Target Audience: Map tile developers
  • Research Boundary Match: Full match for tile math
  • Summary: Documents meters-per-pixel by zoom and latitude correction, showing zoom alone is not a physical resolution contract.
  • Related Sub-question: Tile cache convention

Source #17

  • Title: FastAPI first steps and OpenAPI docs
  • Link: https://fastapi.tiangolo.com/tutorial/first-steps/
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: FastAPI docs accessed 2026-04-29
  • Target Audience: Python API developers
  • Research Boundary Match: Full match
  • Summary: FastAPI automatically exposes Swagger UI, ReDoc, and /openapi.json.
  • Related Sub-question: Local API and OpenAPI

Source #18

  • Title: GDAL Cloud Optimized GeoTIFF driver
  • Link: https://gdal.org/en/stable/drivers/raster/cog.html
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Currently valid as of access date
  • Version Info: GDAL stable docs
  • Target Audience: Geospatial developers
  • Research Boundary Match: Partial overlap
  • Summary: COG is a standard GeoTIFF profile optimized for tiled/ranged access and geospatial processing, useful for preprocessing and service exchange.
  • Related Sub-question: Cache format

Source #19

  • Title: NVIDIA TensorRT issue #4348 — DINOv2-S Jetson Orin measurements
  • Link: https://github.com/NVIDIA/TensorRT/issues/4348
  • Tier: L4
  • Publication Date: 2025-02-05
  • Timeliness Status: Currently useful as deployment-risk evidence
  • Version Info: TensorRT 10.4 on JetPack 6.1, Jetson Orin
  • Target Audience: TensorRT/Jetson developers
  • Research Boundary Match: Partial overlap
  • Summary: Reports DINOv2-S TensorRT runs around 22-23 ms GPU compute on Jetson Orin with limited INT8 speedup, showing project-specific benchmarking is required.
  • Related Sub-question: VPR runtime feasibility

Source #20

  • Title: Magic Leap SuperPoint pretrained network license
  • Link: https://github.com/magicleap/SuperPointPretrainedNetwork/blob/master/LICENSE
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: Repository license accessed 2026-04-29
  • Target Audience: Product dependency/legal reviewers
  • Research Boundary Match: Full match for local-feature dependency selection
  • Summary: The official SuperPoint pretrained package is licensed for academic or non-profit noncommercial research use, so the weights cannot be treated as a product dependency without a separate commercial grant.
  • Related Sub-question: Local matcher licensing

Source #21

  • Title: LightGlue license and extractor-license discussion
  • Link: https://github.com/cvg/LightGlue/blob/main/LICENSE and https://github.com/cvg/LightGlue/issues/38
  • Tier: L1/L4
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: LightGlue repository accessed 2026-04-29
  • Target Audience: CV developers and legal reviewers
  • Research Boundary Match: Full match for local matcher selection
  • Summary: LightGlue itself is Apache-2.0, but extractor weights such as SuperPoint carry their own license; the matching layer and extractor license must be reviewed separately.
  • Related Sub-question: Local matcher licensing and deployment

Source #22

  • Title: AnyLoc DINOv2 VLAD descriptor release
  • Link: https://github.com/AnyLoc/DINO
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: AnyLoc/DINO README and release metadata accessed 2026-04-29
  • Target Audience: VPR developers
  • Research Boundary Match: Full match for VPR descriptor sizing
  • Summary: AnyLoc DINOv2 VLAD examples produce 49,152-dimensional global descriptors and provide pretrained cluster centers, making descriptor compression/index sizing a first-order Jetson/cache concern.
  • Related Sub-question: VPR memory and cache footprint

Source #23

  • Title: NVIDIA Isaac ROS cuVSLAM documentation
  • Link: https://nvidia-isaac-ros.github.io/concepts/visual_slam/cuvslam/index.html
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: Isaac ROS latest docs accessed 2026-04-29
  • Target Audience: Robotics developers
  • Research Boundary Match: Partial overlap
  • Summary: cuVSLAM is described as stereo-visual-inertial SLAM/odometry, supports multiple stereo cameras, and uses IMU-only propagation only for short degraded intervals around one second.
  • Related Sub-question: VO/VIO candidate fit

Source #24

  • Title: GDAL Cloud Optimized GeoTIFF driver and OGC COG standard
  • Link: https://gdal.org/en/stable/drivers/raster/cog.html and http://www.opengis.net/doc/is/COG/1.0
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: GDAL stable docs and OGC COG 1.0 accessed 2026-04-29
  • Target Audience: Geospatial/cache engineers
  • Research Boundary Match: Full match for cache exchange format
  • Summary: COG supports tiled imagery, overviews, and compression options including JPEG/DEFLATE/ZSTD/WEBP; actual bytes per pixel must be measured on representative provider imagery rather than assumed from zoom level.
  • Related Sub-question: Satellite cache storage feasibility

Source #25

  • Title: AerialVL public aerial visual localization dataset
  • Link: https://github.com/hmf21/AerialVL and https://udspace.udel.edu/items/338c0b7c-993b-476c-a095-6820c6f1c031
  • Tier: L1/L2
  • Publication Date: 2024
  • Timeliness Status: Current as of access date
  • Version Info: Dataset/repository accessed 2026-04-29
  • Target Audience: UAV localization researchers
  • Research Boundary Match: Partial overlap
  • Summary: Provides long aerial visual localization trajectories, RGB imagery, GNSS, reference satellite patches, and VPR/sequence localization/VO evaluation tasks; terrain and sensor details still differ from the fixed-wing deployment target.
  • Related Sub-question: Validation data availability

Source #26

  • Title: UAV-VisLoc dataset
  • Link: https://arxiv.org/html/2405.11936v1
  • Tier: L1
  • Publication Date: 2024
  • Timeliness Status: Current as of access date
  • Version Info: arXiv version accessed 2026-04-29
  • Target Audience: UAV geo-localization researchers
  • Research Boundary Match: Partial overlap
  • Summary: Provides UAV images and satellite maps with metadata including coordinates, altitude, heading, and capture dates; useful for cross-view retrieval evaluation but not a complete substitute for the project's FC IMU traces.
  • Related Sub-question: Validation data availability

Source #27

  • Title: LightGlue feature extractor support for ALIKED, DISK, and SIFT
  • Link: https://github.com/cvg/LightGlue
  • Tier: L1
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: LightGlue repository accessed 2026-04-29
  • Target Audience: CV developers
  • Research Boundary Match: Full match for local matcher productization
  • Summary: LightGlue supports multiple extractor families including ALIKED, DISK, SuperPoint, and SIFT; ALIKED/LightGlue ONNX deployment examples exist, and the LightGlue repository is Apache-2.0.
  • Related Sub-question: License-cleared local feature candidates

Source #28

  • Title: DeDoDe local feature matcher and deployment ports
  • Link: https://github.com/Parskatt/DeDoDe
  • Tier: L1
  • Publication Date: 2024
  • Timeliness Status: Current as of access date
  • Version Info: Repository and release metadata accessed 2026-04-29
  • Target Audience: CV developers
  • Research Boundary Match: Partial overlap
  • Summary: DeDoDe is MIT-licensed, provides detector/descriptor models, and has ONNX/TensorRT ports; larger DINOv2-based descriptors still require model-size and runtime validation.
  • Related Sub-question: License-cleared local feature candidates

Source #29

  • Title: OpenCV SIFT patent expiration and main-module availability
  • Link: https://github.com/opencv/opencv/blob/4.x/modules/features2d/src/sift.dispatch.cpp
  • Tier: L1/L3
  • Publication Date: n/a
  • Timeliness Status: Current as of access date
  • Version Info: OpenCV 4.x source and patent-expiration references accessed 2026-04-29
  • Target Audience: CV developers/legal reviewers
  • Research Boundary Match: Full match for classical feature baseline
  • Summary: SIFT is available in OpenCV's main features2d module after patent expiration, making SIFT a practical commercial-safe classical baseline.
  • Related Sub-question: License-cleared local feature candidates
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