v0.65.0

0.65.0 (2026-06-22)

Features

• tools: obs_inspect — R-IEKF vs standard yaw-leak comparison (f05a5e7)
• tools: obs_inspect R-IEKF vs standard yaw-leak comparison (#426) (f05a5e7)

Documentation

• pipeline: record the yaw-leak localization and R-IEKF validation (#427) (e059079)

v0.64.0

0.64.0 (2026-06-21)

Features

• tools: real-data observability / null-space-leak diagnostic (#424) (8c54ed5)

v0.63.1

0.63.1 (2026-06-21)

Bug Fixes

• tools: correct s6_inspect PSD check and NIS headline (#423) (b384355)

Documentation

• pipeline: record the completed real-data inspector epic (#371) (#421) (40f6788)

v0.63.0

0.63.0 (2026-06-19)

Features

• tools: s10 online-calibration inspector — real EuRoC → extrinsic convergence (#419) (23388b9), closes #384

v0.62.0

0.62.0 (2026-06-18)

Features

• tools: s3 augmentation inspector — real EuRoC keyframe → cloned covariance (#416) (e07dc9b)
• tools: s9 marginalization inspector — real EuRoC clone drop → reduced covariance (#418) (9fa7f05)

v0.61.0

0.61.0 (2026-06-17)

Features

• tools: s2 propagation inspector — real EuRoC IMU window → covariance growth & drift (#414) (f8b1292)

Documentation

• wip workload analysis (7d1f437)

v0.60.2

0.60.2 (2026-06-17)

Documentation

• site: fix un-gated inline math delimiters and escape sequences (#412) (d0df72a)
• site: fix un-gated inline math delimiters and escape sequences on overview, S0, and S1 (d0df72a)
• site: restore authoritative VIO stage-flow architectural SVG in overview (c095c80)

v0.60.1

0.60.1 (2026-06-17)

Maintenance

• main: release 0.60.0 (#410) (61e62a7)

v0.60.0

0.60.0 (2026-06-17)

Features

• 3D drone path/pose viewer (Phase 0 + Phase 1 prototype) (#302) (b4da4a4)
• add the S4 forward-backward and S5 parallax outlier gates (#323) (73bcd81)
• bench: graphs energy-model integration (cpu/gpu/kpu-t64) (#204) (0fc9249)
• bench: on-device energy backends — tegrastats + external meter (#207) (e257a25)
• bench: vio_bench — euroc accuracy + latency + rapl energy report (#201) (ba13dec)
• bench: vio_bench progress output + usage docs (#208) (077751a)
• ci: add a Windows MSVC build + test target (#216) (5f439b4)
• complete the structural stage pages (S3, S4, S7-S9) (#319) (d3ec53b)
• core: add cxx bridge, build.rs, and lifecycle state machine (#133) (3ee12fb)
• core: add KPU MemoryProvider stub (#131) (a2445c8)
• core: add SITL MemoryProvider with shm + heap backends (3d99738)
• core: define MemoryProvider trait + BufferHandle + MemErr (#127) (5c1d67a)
• core: SITL MemoryProvider — Linux shm + heap backends (#129) (3d99738)
• cv: FAST-9 corner detector with non-maximum suppression (#174) (53c8850)
• cv: gaussian image pyramid with configurable scale (#170) (afefa22)
• cv: image container + grayscale PGM/PNG I/O (#169) (087a432)
• cv: sub-pixel pyramidal KLT feature tracker (#176) (9a54aec)
• eval: add IMU Allan-variance noise characterization (#268) (#276) (4eafd31)
• eval: add NEES-against-ground-truth consistency (closes #264) (#273) (a93cc17)
• eval: add NEES/NIS filter-consistency statistics (9dc9a1b)
• eval: NEES/NIS filter-consistency statistics (#264) (#271) (9dc9a1b)
• landmark cloud + camera frustum in the 3D viewer (#303) (7f4f532)
• math: add SE2(3) extended-pose Lie group — the R-IEKF state manifold (#347) (#353) (1a7da91)
• math: arithmetic-type plumbing for MTL5 over Universal types (#143) (4163b22), closes #25
• math: camera models — pinhole+radtan, fisheye, unified omni (#172) (8ce771b)
• math: direct sparse Cholesky/LDLT for SPD normal equations (#151) (818ef32), closes #28
• math: header-only Lie groups SO3, SE3, Sim3 (#147) (3dd410f), closes #29
• math: Krylov solvers (CG, GMRES, BiCGSTAB) over MTL5 ITL (#149) (f27b47c)
• math: non-linear least squares solvers (GN, LM, Dogleg) (d85444d), closes #30
• math: non-linear least squares solvers (gn, lm, dogleg) (#153) (d85444d)
• math: sparse storage views (CSR, CSC, COO) over caller buffers (#145) (d556f14), closes #26
• math: tensor views over std::span with stride/shape metadata (bb868d5), closes #24
• math: TensorView<T,Rank> over std::span with stride/shape metadata (#141) (bb868d5)
• math: thin Krylov solver wrappers (cg, gmres, bicgstab) over MTL5 ITL (f27b47c), closes #27
• S5 feature-triangulation probe + stage page (parallax gate, quantified) (#313) (8fbf1cd)
• sdk: add 6-DoF rigid camera extrinsics to MsckfInvariantBackend (105852f)
• sdk: add 6-DoF rigid camera extrinsics to MsckfInvariantBackend (#396) (8ed59cc)
• sdk: add S10 calibration-uncertainty R-term; measure it end-to-end on V2_03 (#328) (bce345f)
• sdk: add the R-IEKF invariant camera measurement update (#347) (#356) (c136991)
• sdk: add the R-IEKF invariant IMU propagation on SE2(3) (#347) (#354) (98683ab)
• sdk: camera updaters with MSCKF null-space projection (#185) (191c4e7)
• sdk: feature representations + MSCKF null-space projection (#180) (58bc198)
• sdk: force-dynamic VI-init validation on MH_05 (real-data #211) (#246) (f80fa63)
• sdk: implement Phase C 6-DoF online extrinsic calibration for MsckfInvariantBackend ([f9007da](https://github....

v0.59.1

0.59.1 (2026-06-17)

Documentation

• site: improve VIO pipeline overview, S0, and S1 documentation (d2b70c6)