Loosely-coupled VIO pipeline (Stage 0b + 0c): IMU preintegration BA residual, accel-bias estimation, rotation coupling, VI initialization#3

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rsasaki0109 wants to merge 59 commits into

vio-integration

Commits on Apr 13, 2026

Add covisibility-weighted pose graph edges, document metric depth test.
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Fix metric depth estimator crash on models with dynamic output shapes.
rsasaki0109
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Improve room_mono tracking, verify covisibility + metric depth, update plan.
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Add EuRoC stereo scaffolding, CI smoke regression, verify metric depth.
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Release 0.2.0: stereo depth, ROS2 node, CI fix.
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Fix ROS2 build, verify EuRoC stereo, improve pose graph optimizer.
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Verify stereo SLAM pipeline with synthetic EuRoC data.
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Revamp README with demo images, Quick Start, and architecture diagram.
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Rewrite plan.md as complete AI agent handoff document.
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Revert Lowe ratio to 0.75 to fix xyz_mono regression.
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Tune BA for xyz_depth: depth sigma 0.015, covis KF 20, BA iter 20.
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Update plan.md with stella battle log and next-agent instructions.
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Commits on Apr 15, 2026

Improve mono room ATE; pose graph backbone; diagnostics
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Commits on Apr 17, 2026

Commits on Apr 18, 2026

Commits on Apr 19, 2026