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docs: record EuRoC MH_01 real-run baseline across all doc surfaces

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Updates README, testing/README, next_steps.md, and ADR 0001 with the
first real EuRoC MH_01 e2e run (100 frames, ~30s wall-time, ATE RMSE
~10.9 km → xfail). Places the EuRoC result alongside the prior VPAIR
baseline (~1770 km) so future-reader can see both failure modes at a
glance:

- VPAIR diverges because no raw IMU → ESKF never engages
- EuRoC diverges because indoor scene has no satellite anchor, so
  VO+ESKF drift without an external correction

Also records the branching policy (rename ``euroc_mh01`` →
``euroc_machine_hall``; empty URL due to DSpace UI gate; manual
fetch via DOI 10.3929/ethz-b-000690084).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Yuzviak
2026-04-17 17:48:16 +03:00
committed by Maksym Yuzviak
parent b57187e1b8
commit 1bf8b2a684
4 changed files with 31 additions and 15 deletions
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_docs/01_solution/decisions/0001-e2e-dataset-strategy.md
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@@ -47,7 +47,12 @@ All adapters share a single `DatasetAdapter` interface (`src/gps_denied/testing/
- Altitude envelope of public datasets (indoor EuRoC, 80–130 m MARS-LVIG, 300–400 m VPAIR) undershoots the target 200–1500 m tactical envelope. Extrapolating upward is a leap of faith; real-target-altitude validation stays on the roadmap.
- Dataset formats vary wildly (EuRoC ASL, VPAIR ECEF+Euler text, MARS-LVIG ROS bags). Each adapter is custom. Mitigation: shared `coord.py` helpers (ECEF→WGS84, Euler→quaternion) and a small design contract enforced by the ABC.
**First real-run evidence** (VPAIR sample, 2026-04-16): pipeline completes on 200 fixed-wing nadir frames without crashing, but ATE RMSE ~1770 km — VO alone diverges catastrophically without IMU or satellite anchoring. This is the baseline. Expected improvement comes from EuRoC (has raw IMU → ESKF path works) and from tuning VO+GPR for high-altitude nadir imagery.
**First real-run evidence**:
- **VPAIR sample** (2026-04-16, 200 fixed-wing nadir frames): pipeline completes without crashing, ATE RMSE ~1770 km — VO alone diverges because VPAIR ships poses only, no raw IMU, so ESKF never engages.
- **EuRoC MH_01** (2026-04-17, first 100 indoor MAV frames, ~30 s wall-time): pipeline completes, ATE RMSE ~10.9 km. Raw IMU is present (200 Hz ADIS16448) so ESKF *does* run, but the satellite-matching anchor never fires on an indoor scene. Still diverges — one order of magnitude less than VPAIR, and for a different underlying reason. Both are xfail-gated.
These are the starting measurements. Improvements will come from tuning VO+ESKF for each regime and wiring a substitute anchor (e.g. synthetic ArUco markers for indoor, GPR-against-satellite at the right resolution for VPAIR).
## Alternatives considered