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[AZ-231] Add anchor verification gates

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Co-authored-by: Cursor <cursoragent@cursor.com>
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Oleksandr Bezdieniezhnykh
2026-05-03 19:02:13 +03:00
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_docs/02_tasks/todo/AZ-231_anchor_verification_matching.md
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# Anchor Verification Matching And Geometry Gates
**Task**: AZ-231_anchor_verification_matching
**Name**: Anchor Verification Matching And Geometry Gates
**Description**: Verify retrieved candidates with ALIKED/DISK + LightGlue and geometric safety gates.
**Complexity**: 5 points
**Dependencies**: AZ-223_camera_ingest_calibration, AZ-225_tile_manager_cache_manifest, AZ-230_satellite_service_vpr_retrieval
**Component**: Anchor Verification
**Tracker**: AZ-231
**Epic**: AZ-215
## Problem
VPR candidates are not trusted fixes; they require local feature matching, RANSAC geometry, provenance checks, and measurable rejection evidence.
## Outcome
- Anchor candidates are accepted or rejected with MRE, inlier count, homography, freshness/provenance, and reason metadata.
- Matcher profiles can be benchmarked without making learned matching a per-frame VIO hot path.
## Scope
### Included
- ALIKED/DISK + LightGlue matching profile behavior.
- SIFT/ORB baseline profile.
- OpenCV RANSAC/USAC geometry checks.
- Anchor decision output and rejection reasons.
### Excluded
- VPR retrieval ranking.
- Safety wrapper anchor fusion.
## Dependencies
### Document Dependencies
- `_docs/02_document/contracts/shared/runtime_contracts.md`
- `_docs/02_document/contracts/shared/geometry_time_sync.md`
- `_docs/02_document/contracts/shared/config_errors_telemetry.md`
## Acceptance Criteria
**AC-1: Candidate verification emits evidence**
Given retrieved candidates and a usable frame
When verification runs
Then each result includes acceptance state, MRE, inlier count, and rejection/acceptance reason.
**AC-2: Unsafe candidates are rejected**
Given low inliers, high MRE, stale provenance, or geometry failure
When verification runs
Then no accepted anchor decision is emitted for that candidate.
**AC-3: Matcher benchmark is reportable**
Given configured matcher profiles
When benchmark runs
Then profile runtime and quality metrics are reported.
## Non-Functional Requirements
**Performance**
- Learned matching is trigger-based and profiled separately from BASALT.
**Reliability**
- SuperPoint is excluded from production unless legal approval exists.
## Unit Tests
| AC Ref | What to Test | Required Outcome |
|--------|--------------|------------------|
| AC-1 | Valid matching fixture | Evidence fields present |
| AC-2 | Bad geometry fixture | Rejected decision |
| AC-3 | Benchmark profiles | Metrics emitted |
## Blackbox Tests
| AC Ref | Initial Data/Conditions | What to Test | Expected Behavior | NFR References |
|--------|-------------------------|--------------|-------------------|----------------|
| AC-1 | Aerial/cache fixture | Anchor verification path | Accepted anchors meet MRE/inlier gates | Performance |
## Constraints
- ALIKED/DISK + LightGlue supplies correspondences, not full VIO.
- Anchor verification does not decide final safety fusion.
## Risks & Mitigation
**Risk 1: False anchor acceptance**
- *Risk*: Cross-domain match looks plausible but is wrong.
- *Mitigation*: Geometry, freshness, provenance, and downstream Mahalanobis gates.