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

• URL: http://arxiv.org/abs/2608.02079v1
• Date: Mon, 03 Aug 2026 11:32:30 GMT
• Title: TANGO-VIO: Triangulation-Aware Navigation with Guaranteed Feature-Observability for Visual-Inertial Odometry
• Abstract summary: 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.<n>The proposed architecture is evaluated through software-inthe- loop simulations and real flight experiments.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• 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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