发表机构
Istanbul Technical University; Aviation Institute, Istanbul Technical University; Aerospace Research Center, Istanbul Technical University（伊斯坦布尔理工大学; 伊斯坦布尔理工大学航空学院; 伊斯坦布尔理工大学航空航天研究中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对视觉惯性里程计中特征可观测性主动维护不足的问题，提出TANGO-VIO框架，通过控制障碍函数保证特征几何可观测性，经仿真和真实实验验证了其有效性。
AI 中文摘要
在视觉辅助导航与视觉惯性里程计中，三角化得到的三维特征位置的质量是状态估计精度的基本前提。当相机发生无平移的纯旋转，或观测到的方位向量提供的视差不足时，三角化会出现病态甚至无法进行。尽管视觉惯性里程计已得到广泛研究，但导航过程中特征可观测性的主动维护在文献中尚未得到充分解决。为填补这一空白，本研究提出了TANGO-VIO，这是一种三角化感知导航框架，将按特征堆叠的方位向量矩阵的对数行列式指标嵌入控制障碍函数中。在该方法中，通过名义方向加权的最小偏差速度校正，对聚合三角化信息指标施加下界，从而在特征几何意义上建立可观测性保证。所提出的架构通过在环软件仿真和真实飞行实验进行评估。结果表明，在低视差运动下三角化条件得到改善，而飞行响应紧密复现了相应的仿真行为，证实了所提出安全滤波器的实际可行性。补充材料可在项目网页获取。
英文摘要
In vision-aided navigation and visual-inertial odometry, the quality of triangulated three-dimensional feature positions is a fundamental prerequisite for state estimation accuracy. Triangulation becomes ill-conditioned or even impossible when a camera undergoes pure rotation without translation, or when the observed bearing vectors provide insufficient parallax. Even though visual-inertial odometry has been extensively studied, the active maintenance of feature-observability during navigation has not been sufficiently addressed in the literature. To address this gap, this study presents TANGO-VIO, a triangulation-aware navigation framework that embeds a log-determinant metric of the feature-wise stacked-bearing matrix into a control barrier function. In this proposed method, the observability guarantee is established in the feature-geometric sense by enforcing a lower bound on the aggregate triangulation-information metric through a nominal-direction-weighted minimum-deviation velocity correction. The proposed architecture is evaluated through software-inthe- loop simulations and real flight experiments. The results show improved triangulation conditioning under low-parallax motion, while the flight response closely reproduces the corresponding simulation behavior and confirms the practical realizability of the proposed safety filter. Supplementary materials are available on the project webpage.
