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Update autodev state documentation to reflect progress in the Decompose phase, changing the current step from 5 to 6. Revise sub-step details to indicate a shift to phase 2, focusing on module layout for the Satellite Service and Tile Manager, and awaiting confirmation before product task decomposition. Additionally, enhance problem documentation to clarify the original still-image sample limitations and introduce the Derkachi representative fixture for improved data validation. Update references to the Tile Manager and Satellite Service throughout the documentation for consistency.

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Oleksandr Bezdieniezhnykh
2026-05-03 10:27:44 +03:00
parent 35547e9b65
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---
### FT-P-03: BASALT VIO Replay With Public Synchronized Data
### FT-P-03: BASALT VIO Replay With Synchronized Video/Telemetry
**Summary**: Validate that BASALT + safety/anchor wrapper can process synchronized camera/IMU data and produce trajectory estimates with calibrated confidence.
**Summary**: Validate that BASALT + safety/anchor wrapper can process synchronized nadir video, IMU, and trajectory telemetry and produce frame-by-frame estimates with honest confidence.
**Traces to**: AC-1.3, AC-2.1a, AC-2.2, AC-4.1, AC-4.2
**Category**: VO / IMU Propagation
**Preconditions**:
- Public synchronized dataset slice is pinned during implementation. Strongest candidates: MUN-FRL, ALTO, EPFL fixed-wing, Kagaru; EuRoC/UZH FPV are proxy-only.
- Ground-truth trajectory or frame poses are available.
- Derkachi replay fixture is mounted from `input_data/flight_derkachi/`.
- `flight_derkachi.mp4` is readable as cropped nadir video: 880 x 720, 30 fps, approximately 490.07 s.
- `data_imu.csv` contains monotonic 10 Hz `Time`, `timestamp(ms)`, `SCALED_IMU2.*`, and `GLOBAL_POSITION_INT.*` fields for 4,900 rows.
- Camera intrinsics, lens distortion, and camera-to-body transform are either pinned or the run is marked as calibration-limited.
- Public synchronized dataset slice remains useful for calibrated final comparison. Strongest candidates: MUN-FRL, ALTO, EPFL fixed-wing, Kagaru; EuRoC/UZH FPV are proxy-only.
**Input data**: `public_nadir_vio_candidates`
**Input data**: `derkachi_video_telemetry`, `public_nadir_vio_candidates`
| Step | Consumer Action | Expected System Response |
|------|-----------------|--------------------------|
| 1 | Replay synchronized camera and IMU stream | System emits frame-by-frame `vo_extrapolated` or `satellite_anchored` estimates |
| 2 | Compare output trajectory to dataset ground truth | Error and covariance calibration are reported per segment |
| 3 | Compare against OpenVINS reference replay | BASALT + wrapper does not materially under-report uncertainty relative to error |
| 1 | Validate Derkachi video/telemetry alignment | Harness accepts the fixture only if MP4 duration and CSV duration differ by <=250 ms and there are exactly 3 video frames per telemetry row |
| 2 | Replay synchronized video frames and IMU stream | System emits frame-by-frame `vo_extrapolated` or `satellite_anchored` estimates without batching |
| 3 | Compare output trajectory to `GLOBAL_POSITION_INT` lat/lon/alt/heading | Error, covariance, source label, and anchor age are reported per segment |
| 4 | Compare calibrated public/representative replay against ground truth when available | BASALT + wrapper does not materially under-report uncertainty relative to error |
| 5 | Compare against OpenVINS reference replay when available | BASALT + wrapper does not materially under-report uncertainty relative to error |
**Expected outcome**: VO registration succeeds for >95% of normal overlapping frames in dataset-supported normal segments; VO homography MRE is <1.0 px where homography validation is applicable.
**Expected outcome**: Derkachi replay is accepted as a synchronized representative fixture and produces continuous estimates for >95% of normal overlapping frames. Absolute geolocation and covariance pass/fail thresholds are calibration-gated until camera intrinsics, distortion, and camera-to-body transform are pinned. For calibrated datasets, VO homography MRE is <1.0 px where homography validation is applicable.
**Max execution time**: Dataset-dependent, but replay must report per-frame latency.
---
### FT-P-04: Satellite Retrieval And Anchor Verification
### FT-P-04: Satellite Service And Anchor Verification
**Summary**: Validate that relocalization uses global retrieval plus local verification and emits only verified satellite anchors.