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OpenJul 1, 2026
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•Last updated MSCKF-style Visual-Inertial Odometry. MVP target.
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perf(sdk): bring VIO feed_image latency to real-time (RTF ~0.10x)
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#213 In branes-ai/cortex;epic: VIO diagnostic instrumentation & component contracts
epicTracking issue for a multi-task epicTracking issue for a multi-task epicphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#261 In branes-ai/cortex;feat(sdk): per-component invariant self-checks + known-answer tests
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#263 In branes-ai/cortex;feat(sdk): conditioning / excitation / parallax monitors
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#265 In branes-ai/cortex;feat(sdk): make InitDiagnostics gate, not just log
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#267 In branes-ai/cortex;feat(tools): IMU & camera stream characterization tooling
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#268 In branes-ai/cortex;feat(sdk): online extrinsic calibration (S10-as-state) for the #212 over-confidence
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#332 In branes-ai/cortex;epic(sdk): Right-Invariant EKF (R-IEKF) backend — fix the #212 yaw observability leak by construction
enhancementNew feature or requestNew feature or requestepicTracking issue for a multi-task epicTracking issue for a multi-task epicphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#347 In branes-ai/cortex;feat(sdk): R-IEKF system-level NEES verdict via the VioEstimator front-end (#347)
enhancementNew feature or requestNew feature or requestphase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#365 In branes-ai/cortex;feat(tools): S7 SLAM-features inspector — real EuRoC → persistent landmark state
phase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#381 In branes-ai/cortex;feat(tools): S8 zero-velocity inspector — real EuRoC stationary window → ZUPT decision
phase-3-vioVisual-Inertial OdometryVisual-Inertial OdometryStatus: Open.#382 In branes-ai/cortex;