GSoC 2024 wrapping up: High Altitude Non-GPS Navigation

[snktshrma (Sanket Sharma)]

Hi everyone, thanks for all the feedback!

I’ve created up a new discussion thread for the newer updates to track progress and discussions.

Transformer & Optimization Based High Altitude NGPS Fusion

1. SIFT-Based Prototype In my original GSOC post, I described a proof-of-concept NGPS pipeline that relied on SIFT feature matching against a stitched map. While functional, it generally fails under varying lighting and texture conditions, requires existing database, and its update rate oscillated between 0.5 Hz and 3 Hz. 2. Transformer-Based VPS & VIO To improve, I replaced SIFT with a learned matching approach. I extract sparse features using SuperPoint, then feed them into a lightweight tran…

Thanks : )