gps-denied-onboard/_docs/00_research/01_source_registry.md

# 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
- **Title**: NVIDIA JetPack 6.2 Super Mode benchmarks
- **Link**: https://developer.nvidia.com/blog/nvidia-jetpack-6-2-brings-super-mode-to-nvidia-jetson-orin-nano-and-jetson-orin-nx-modules/
- **Tier**: L2
- **Publication Date**: 2025-01
- **Timeliness Status**: Currently valid as of access date
- **Version Info**: JetPack 6.2
- **Target Audience**: Jetson AI developers
- **Research Boundary Match**: Partial overlap
- **Summary**: Provides ViT benchmark rates for Orin Nano 8 GB in Super Mode, including DINOv2-base-patch14.
- **Related Sub-question**: VPR runtime feasibility

## 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