add chunking

docs/03_tests/39_route_chunk_connection_spec.md

@@ -7,10 +7,13 @@ Validate Acceptance Criterion 5 (partial): "System should try to operate when UA
 **AC-5**: Connect multiple disconnected route fragments
 
 ## Preconditions
-1. System with "Atlas" multi-map capability (factor graph)
-2. L2 global place recognition functional
-3. Geodetic map-merging logic implemented
-4. Test dataset: Simulate 3 disconnected route fragments
+1. System with "Atlas" multi-map capability (factor graph with native chunk support)
+2. F12 Route Chunk Manager functional
+3. F10 Factor Graph Optimizer with multi-chunk support
+4. L2 global place recognition functional (chunk semantic matching)
+5. L3 metric refinement functional (chunk LiteSAM matching)
+6. Geodetic map-merging logic implemented (Sim(3) transform)
+7. Test dataset: Simulate 3 disconnected route fragments
 
 ## Test Description
 Test system's ability to handle completely disconnected route segments (no overlap between segments) and eventually connect them into a coherent trajectory using global GPS anchors.
@@ -36,15 +39,19 @@ Test system's ability to handle completely disconnected route segments (no overl
 - **Action**: Process AD000025 after AD000010
 - **Expected Result**:
   - L1 fails (no overlap, large displacement ~2km)
-  - System detects new fragment
-  - Initializes Map_Fragment_2
+  - System **proactively creates new chunk** (Map_Fragment_2)
+  - Processing continues immediately in new chunk
+  - Chunk matching attempted asynchronously
 
 ### Step 4: Process Fragment 2 Independently
 - **Action**: Process AD000025-030
 - **Expected Result**:
-  - New sequential tracking starts
-  - L2 provides global localization for AD000025
-  - Map_Fragment_2 created with local consistency
+  - New sequential tracking starts in chunk_2
+  - Frames processed within chunk_2 context
+  - Relative factors added to chunk_2's subgraph
+  - Chunk_2 optimized independently for local consistency
+  - Chunk semantic matching attempted when ready (5-20 frames)
+  - Chunk LiteSAM matching with rotation sweeps attempted
 
 ### Step 5: Process Fragment 3 
 - **Action**: Process AD000050-055 after AD000030
@@ -56,9 +63,11 @@ Test system's ability to handle completely disconnected route segments (no overl
 ### Step 6: Global Map Merging
 - **Action**: Factor graph attempts geodetic map-merging
 - **Expected Result**:
-  - All 3 fragments have GPS anchors from L3
+  - All 3 chunks have GPS anchors from chunk LiteSAM matching
+  - Chunks merged via Sim(3) transform (translation, rotation, scale)
   - Fragments aligned in global coordinate frame
   - Single consistent trajectory created
+  - Global optimization performed
 
 ### Step 7: Validate Fragment Connections
 - **Action**: Verify all 18 images have global GPS coordinates
@@ -138,15 +147,18 @@ Processing Mode: Multi-Map Atlas
 - Geodetic merging aligns all maps
 
 **Recovery Mechanisms**:
-- L2 (AnyLoc) finds location for first image of new fragment
-- L3 (LiteSAM) refines GPS anchor
-- Factor graph creates new map fragment
-- Global alignment via GPS coordinates
+- **Proactive chunk creation** on tracking loss (immediate, not reactive)
+- Chunk semantic matching (aggregate DINOv2) finds location for chunk
+- Chunk LiteSAM matching (with rotation sweeps) refines GPS anchor
+- Factor graph creates new chunk subgraph
+- Sim(3) transform merges chunks into global trajectory
 
 **Fragment Detection**:
 - Large displacement (> 500m) from last image
 - Low/zero overlap
-- L1 failure triggers new fragment initialization
+- L1 failure triggers **proactive** new chunk creation
+- Chunks processed independently with local optimization
+- Multiple chunks can exist simultaneously
 
 ## Notes
 - AC-5 describes realistic operational scenario (multiple turns, disconnected segments)