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[AZ-219] [AZ-228] Generalize VIO component layout

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Keep VIO package and native bridge paths backend-neutral so BASALT remains an implementation choice rather than a component boundary.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
Oleksandr Bezdieniezhnykh
2026-05-03 12:20:41 +03:00
parent 79997e39ac
commit 72a9df6b57
34 changed files with 123 additions and 114 deletions
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_docs/02_document/risk_mitigations.md
+6 -6
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@@ -35,7 +35,7 @@
| ID | Risk | Category | Probability | Impact | Score | Mitigation | Owner | Status |
|----|------|----------|-------------|--------|-------|------------|-------|--------|
| R01 | ADTi 20MP 20L V1 public specs conflict with planning assumptions for resolution, FPS, lens, interface, and temperature | Technical / External | Medium | High | High | Pin manufacturer datasheet and exact lens/interface before implementation; make camera calibration/spec task a bootstrap blocker | Camera ingest/calibration | Mitigated by gate |
| R02 | BASALT may underperform or lose tracking on nadir fixed-wing low-parallax terrain | Technical | Medium | High | High | Public replay with MUN-FRL/ALTO/Kagaru/EPFL where applicable, representative target replay, OpenVINS reference comparison, Kimera backup path | BASALT VIO adapter | Mitigated by validation |
| R02 | BASALT may underperform or lose tracking on nadir fixed-wing low-parallax terrain | Technical | Medium | High | High | Public replay with MUN-FRL/ALTO/Kagaru/EPFL where applicable, representative target replay, OpenVINS reference comparison, Kimera backup path | VIO adapter | Mitigated by validation |
| R03 | BASALT confidence/covariance may under-report real error | Safety | Medium | High | High | Wrapper owns covariance calibration; compare against ground truth, satellite residuals, and OpenVINS reference; never emit optimistic `horiz_accuracy` | Safety/anchor wrapper | Mitigated by wrapper design |
| R04 | Total occlusion detector may false-negative and feed unusable frames into VIO | Safety / Technical | Medium | High | High | Conservative pre-VIO occlusion gate, FDR status, tests for total blackout, and fallback to IMU-only `dead_reckoned` mode | Camera ingest/calibration | Mitigated by spec/test |
| R05 | IMU-only blackout propagation could be trusted too long | Safety | Medium | High | High | Monotonic covariance growth, `dead_reckoned` label, `fix_type=0`/`horiz_accuracy=999.0` when >30 s or covariance >500 m | Safety/anchor wrapper | Mitigated by AC gate |
@@ -55,7 +55,7 @@
**Trigger conditions**: Manufacturer documentation or hardware testing contradicts assumed FPS, interface, temperature, or lens characteristics.
**Affected components**: Camera ingest/calibration, BASALT VIO adapter, separate e2e test suite, deployment procedures.
**Affected components**: Camera ingest/calibration, VIO adapter, separate e2e test suite, deployment procedures.
**Mitigation strategy**:
1. Make camera specification verification a bootstrap task.
@@ -76,7 +76,7 @@
**Trigger conditions**: Public or representative replay shows high drift, frequent tracking loss, or poor initialization.
**Affected components**: BASALT VIO adapter, safety/anchor wrapper, separate e2e test suite.
**Affected components**: VIO adapter, safety/anchor wrapper, separate e2e test suite.
**Mitigation strategy**:
1. Run MUN-FRL first for synchronized nadir camera + IMU + ground truth.
@@ -87,7 +87,7 @@
**Residual risk after mitigation**: Medium.
**Documents updated**: `architecture.md`, `components/02_basalt_vio_adapter/description.md`, `tests/test-data.md`.
**Documents updated**: `architecture.md`, `components/02_vio_adapter/description.md`, `tests/test-data.md`.
---
@@ -118,7 +118,7 @@
**Trigger conditions**: Lens cover, cloud/whiteout, decode failure, underexposure/overexposure, or textureless frame reaches VIO as usable.
**Affected components**: Camera ingest/calibration, safety/anchor wrapper, BASALT VIO adapter.
**Affected components**: Camera ingest/calibration, safety/anchor wrapper, VIO adapter.
**Mitigation strategy**:
1. Camera ingest exposes `OcclusionReport` and sets `usable_for_vio=false` for total occlusion/blackout.
@@ -223,7 +223,7 @@
**Trigger conditions**: MUN-FRL/ALTO/Kagaru/EPFL slices are unavailable, unrepresentative, or license-incompatible for acceptance.
**Affected components**: Validation harness, BASALT VIO adapter, anchor verification.
**Affected components**: Validation harness, VIO adapter, anchor verification.
**Mitigation strategy**:
1. Use public datasets for de-risking only.