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docs/03_tests/56_multi_chunk_simultaneous_spec.md

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+# Acceptance Test: Multi-Chunk Simultaneous Processing
+
+## Summary
+Validate system's ability to process multiple chunks simultaneously, matching and merging them asynchronously.
+
+## Linked Acceptance Criteria
+**AC-4**: Robust to sharp turns (<5% overlap)
+**AC-5**: Connect route chunks (multiple chunks)
+
+## Preconditions
+1. F10 Factor Graph Optimizer with native multi-chunk support
+2. F12 Route Chunk Manager functional
+3. F11 Failure Recovery Coordinator with chunk orchestration
+4. Test dataset: Flight with 3 disconnected segments
+
+## Test Description
+Test system's ability to handle multiple disconnected route segments simultaneously. The system should create chunks proactively, process them independently, and match/merge them asynchronously without blocking frame processing.
+
+## Test Steps
+
+### Step 1: Create Multi-Segment Flight
+- **Action**: Create flight with 3 disconnected segments:
+  - Segment 1: AD000001-010 (10 frames, sequential)
+  - Segment 2: AD000025-030 (6 frames, no overlap with Segment 1)
+  - Segment 3: AD000050-055 (6 frames, no overlap with Segments 1 or 2)
+- **Expected Result**: Flight created with all 22 images
+
+### Step 2: Process Segment 1
+- **Action**: Process AD000001-010
+- **Expected Result**:
+  - Chunk_1 created (frames 1-10)
+  - Sequential VO provides relative factors
+  - Factors added to chunk_1's subgraph
+  - Chunk_1 optimized independently
+  - GPS anchors from LiteSAM matching
+  - Chunk_1 anchored and merged to main trajectory
+
+### Step 3: Detect Discontinuity (Segment 1 → 2)
+- **Action**: Process AD000025 after AD000010
+- **Expected Result**:
+  - Tracking lost detected (large displacement ~2km)
+  - **Chunk_2 created proactively** (immediate, not reactive)
+  - Processing continues immediately in chunk_2
+  - Chunk_1 remains in factor graph (not deleted)
+
+### Step 4: Process Segment 2 Independently
+- **Action**: Process AD000025-030
+- **Expected Result**:
+  - Frames processed in chunk_2 context
+  - Relative factors added to chunk_2's subgraph
+  - Chunk_2 optimized independently
+  - Chunk_1 and chunk_2 exist simultaneously
+  - Chunk_2 matching attempted asynchronously (background)
+
+### Step 5: Detect Discontinuity (Segment 2 → 3)
+- **Action**: Process AD000050 after AD000030
+- **Expected Result**:
+  - Tracking lost detected again
+  - **Chunk_3 created proactively**
+  - Processing continues in chunk_3
+  - Chunk_1, chunk_2, chunk_3 all exist simultaneously
+
+### Step 6: Process Segment 3 Independently
+- **Action**: Process AD000050-055
+- **Expected Result**:
+  - Frames processed in chunk_3 context
+  - Chunk_3 optimized independently
+  - All 3 chunks exist simultaneously
+  - Each chunk processed independently
+
+### Step 7: Asynchronous Chunk Matching
+- **Action**: Background task attempts matching for unanchored chunks
+- **Expected Result**:
+  - Chunk_2 semantic matching attempted
+  - Chunk_2 LiteSAM matching attempted
+  - Chunk_2 anchored when match found
+  - Chunk_3 semantic matching attempted
+  - Chunk_3 LiteSAM matching attempted
+  - Chunk_3 anchored when match found
+  - Matching happens asynchronously (doesn't block frame processing)
+
+### Step 8: Chunk Merging
+- **Action**: Merge chunks as they become anchored
+- **Expected Result**:
+  - Chunk_2 merged to chunk_1 when anchored
+  - Chunk_3 merged to merged trajectory when anchored
+  - Sim(3) transforms applied correctly
+  - Global optimization performed
+  - All chunks merged into single trajectory
+
+### Step 9: Verify Final Trajectory
+- **Action**: Verify all 22 frames have GPS coordinates
+- **Expected Result**:
+  - All frames have GPS coordinates
+  - Trajectory globally consistent
+  - No systematic bias between segments
+  - Accuracy: 20/22 < 50m (90.9%)
+
+## Success Criteria
+
+**Primary Criterion**:
+- Multiple chunks created simultaneously
+- Chunks processed independently
+- Chunks matched and merged asynchronously
+- Final trajectory globally consistent
+
+**Supporting Criteria**:
+- Chunk creation is proactive (immediate)
+- Frame processing continues during chunk matching
+- Chunk matching doesn't block processing
+- Sim(3) transforms computed correctly
+
+## Expected Results
+
+```
+Multi-Chunk Simultaneous Processing:
+- Chunk_1: frames 1-10, anchored, merged
+- Chunk_2: frames 25-30, anchored asynchronously, merged
+- Chunk_3: frames 50-55, anchored asynchronously, merged
+- Simultaneous existence: All 3 chunks exist at same time
+- Independent processing: Each chunk optimized independently
+- Asynchronous matching: Matching doesn't block frame processing
+- Final trajectory: Globally consistent
+- Accuracy: 20/22 < 50m (90.9%)
+```
+
+## Pass/Fail Criteria
+
+**TEST PASSES IF**:
+- Multiple chunks created simultaneously
+- Chunks processed independently
+- Chunks matched and merged asynchronously
+- Final trajectory globally consistent
+- Accuracy acceptable (≥ 80% < 50m)
+
+**TEST FAILS IF**:
+- Chunks not created simultaneously
+- Chunk processing blocks frame processing
+- Chunk matching blocks processing
+- Merging produces inconsistent trajectory
+- Final accuracy below threshold
+
+## Architecture Elements
+
+**Multi-Chunk Support**:
+- F10 Factor Graph Optimizer supports multiple chunks simultaneously
+- Each chunk has own subgraph
+- Chunks optimized independently
+
+**Proactive Chunk Creation**:
+- Chunks created immediately on tracking loss
+- Not reactive (doesn't wait for matching to fail)
+- Processing continues in new chunk
+
+**Asynchronous Matching**:
+- Background task processes unanchored chunks
+- Matching doesn't block frame processing
+- Chunks matched and merged asynchronously
+
+**Chunk Merging**:
+- Sim(3) transform for merging
+- Accounts for translation, rotation, scale
+- Global optimization after merging
+
+## Notes
+- Multiple chunks can exist simultaneously
+- Chunk processing is independent and non-blocking
+- Asynchronous matching reduces user input requests
+- Sim(3) transform critical for scale ambiguity resolution
+