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Revise acceptance criteria and restrictions documentation to clarify recent updates and specifications. Key changes include enhanced definitions for position accuracy, image processing quality, and operational parameters, as well as updates to camera specifications and validation requirements. This revision aims to improve clarity and ensure alignment with project goals.

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Oleksandr Bezdieniezhnykh
2026-05-01 16:24:46 +03:00
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_docs/00_problem/input_data/expected_results/results_report.md
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# Expected Results Mapping
## Scope
`coordinates.csv` is the current source of truth for the provided nadir image set. It gives expected WGS84 frame-center coordinates for `AD000001.jpg` through `AD000060.jpg`.
This data is sufficient for black-box frame-center geolocation tests against still images. It is not sufficient for final BASALT VIO, IMU-fusion, blackout, spoofing, or flight-controller tests because synchronized IMU/attitude/airspeed/altitude and ground-truth trajectory are not present in this sample set.
## Pass / Fail Rules
- **Normal frame-center geolocation**: estimated frame center is within 50 m of the expected WGS84 coordinate.
- **Stretch accuracy bin**: estimated frame center is within 20 m of the expected WGS84 coordinate.
- **Dataset aggregate**: at least 80% of mapped images pass the 50 m threshold and at least 50% pass the 20 m threshold.
- **Output shape**: each result must include image name, estimated `lat`, estimated `lon`, error in meters, source label, 95% covariance semi-major axis, and `last_satellite_anchor_age_ms`.
## Input To Expected Output Map
| Input image | Expected latitude | Expected longitude | Primary threshold | Stretch threshold |
|-------------|-------------------|--------------------|-------------------|-------------------|
| AD000001.jpg | 48.275292 | 37.385220 | <= 50 m | <= 20 m |
| AD000002.jpg | 48.275001 | 37.382922 | <= 50 m | <= 20 m |
| AD000003.jpg | 48.274520 | 37.381657 | <= 50 m | <= 20 m |
| AD000004.jpg | 48.274956 | 37.379004 | <= 50 m | <= 20 m |
| AD000005.jpg | 48.273997 | 37.379828 | <= 50 m | <= 20 m |
| AD000006.jpg | 48.272538 | 37.380294 | <= 50 m | <= 20 m |
| AD000007.jpg | 48.272408 | 37.379153 | <= 50 m | <= 20 m |
| AD000008.jpg | 48.271992 | 37.377572 | <= 50 m | <= 20 m |
| AD000009.jpg | 48.271376 | 37.376671 | <= 50 m | <= 20 m |
| AD000010.jpg | 48.271233 | 37.374806 | <= 50 m | <= 20 m |
| AD000011.jpg | 48.270334 | 37.374442 | <= 50 m | <= 20 m |
| AD000012.jpg | 48.269922 | 37.373284 | <= 50 m | <= 20 m |
| AD000013.jpg | 48.269366 | 37.372134 | <= 50 m | <= 20 m |
| AD000014.jpg | 48.268759 | 37.370940 | <= 50 m | <= 20 m |
| AD000015.jpg | 48.268291 | 37.369815 | <= 50 m | <= 20 m |
| AD000016.jpg | 48.267719 | 37.368469 | <= 50 m | <= 20 m |
| AD000017.jpg | 48.267461 | 37.367255 | <= 50 m | <= 20 m |
| AD000018.jpg | 48.266663 | 37.365888 | <= 50 m | <= 20 m |
| AD000019.jpg | 48.266135 | 37.365460 | <= 50 m | <= 20 m |
| AD000020.jpg | 48.265574 | 37.364211 | <= 50 m | <= 20 m |
| AD000021.jpg | 48.264892 | 37.362998 | <= 50 m | <= 20 m |
| AD000022.jpg | 48.264393 | 37.361086 | <= 50 m | <= 20 m |
| AD000023.jpg | 48.263803 | 37.361028 | <= 50 m | <= 20 m |
| AD000024.jpg | 48.263014 | 37.359878 | <= 50 m | <= 20 m |
| AD000025.jpg | 48.262635 | 37.358277 | <= 50 m | <= 20 m |
| AD000026.jpg | 48.261819 | 37.357116 | <= 50 m | <= 20 m |
| AD000027.jpg | 48.261182 | 37.355907 | <= 50 m | <= 20 m |
| AD000028.jpg | 48.260727 | 37.354723 | <= 50 m | <= 20 m |
| AD000029.jpg | 48.260117 | 37.353469 | <= 50 m | <= 20 m |
| AD000030.jpg | 48.259677 | 37.352165 | <= 50 m | <= 20 m |
| AD000031.jpg | 48.258881 | 37.351376 | <= 50 m | <= 20 m |
| AD000032.jpg | 48.258425 | 37.349964 | <= 50 m | <= 20 m |
| AD000033.jpg | 48.258653 | 37.347004 | <= 50 m | <= 20 m |
| AD000034.jpg | 48.257879 | 37.347711 | <= 50 m | <= 20 m |
| AD000035.jpg | 48.256777 | 37.348444 | <= 50 m | <= 20 m |
| AD000036.jpg | 48.255756 | 37.348098 | <= 50 m | <= 20 m |
| AD000037.jpg | 48.255375 | 37.346549 | <= 50 m | <= 20 m |
| AD000038.jpg | 48.254799 | 37.345603 | <= 50 m | <= 20 m |
| AD000039.jpg | 48.254557 | 37.344566 | <= 50 m | <= 20 m |
| AD000040.jpg | 48.254380 | 37.344375 | <= 50 m | <= 20 m |
| AD000041.jpg | 48.253722 | 37.343093 | <= 50 m | <= 20 m |
| AD000042.jpg | 48.254205 | 37.340532 | <= 50 m | <= 20 m |
| AD000043.jpg | 48.252380 | 37.342112 | <= 50 m | <= 20 m |
| AD000044.jpg | 48.251489 | 37.343079 | <= 50 m | <= 20 m |
| AD000045.jpg | 48.251085 | 37.346128 | <= 50 m | <= 20 m |
| AD000046.jpg | 48.250413 | 37.344034 | <= 50 m | <= 20 m |
| AD000047.jpg | 48.249414 | 37.343296 | <= 50 m | <= 20 m |
| AD000048.jpg | 48.249114 | 37.346895 | <= 50 m | <= 20 m |
| AD000049.jpg | 48.250241 | 37.347741 | <= 50 m | <= 20 m |
| AD000050.jpg | 48.250974 | 37.348379 | <= 50 m | <= 20 m |
| AD000051.jpg | 48.251528 | 37.349468 | <= 50 m | <= 20 m |
| AD000052.jpg | 48.251873 | 37.350485 | <= 50 m | <= 20 m |
| AD000053.jpg | 48.252161 | 37.351491 | <= 50 m | <= 20 m |
| AD000054.jpg | 48.252685 | 37.352343 | <= 50 m | <= 20 m |
| AD000055.jpg | 48.253268 | 37.353119 | <= 50 m | <= 20 m |
| AD000056.jpg | 48.253767 | 37.354246 | <= 50 m | <= 20 m |
| AD000057.jpg | 48.254329 | 37.354946 | <= 50 m | <= 20 m |
| AD000058.jpg | 48.254874 | 37.355765 | <= 50 m | <= 20 m |
| AD000059.jpg | 48.255481 | 37.356501 | <= 50 m | <= 20 m |
| AD000060.jpg | 48.256246 | 37.357485 | <= 50 m | <= 20 m |
## Known Gaps
- No synchronized IMU, attitude, airspeed, altitude, or timestamp stream is present for these images.
- No ground-truth trajectory exists beyond per-image center coordinates.
- The sample cadence is slower than the target 3 fps runtime profile.
- Final acceptance requires additional public and representative datasets with synchronized camera/IMU/ground truth.