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arXiv · 2608.02079

TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry

Abdülbaki Şanlan·Ege C. Altunkaya·Hasan T. Bağci·Emre Koyuncu·İbrahim Özkol
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Abstract

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.

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Abdülbaki Şanlan, Ege C. Altunkaya, Hasan T. Bağci, Emre Koyuncu, İbrahim Özkol. 2026-08-03. TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry. https://arxiv.org/abs/2608.02079

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