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Update autodev state and candidate enumeration for C1 VIO

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Revised the autodev state to reflect the transition to phase 12, detailing the candidate enumeration for C1 (VIO) with a focus on context7 capability verification and restrictions assessment. Updated the source registry to indicate progress on C1 candidates, including the addition of new sources and their evaluation status. Enhanced fact cards with detailed assessments of VINS-Mono and VINS-Fusion, highlighting their suitability and licensing considerations for dual-use deployment. Deferred context7 verification and structured sub-matrix tasks to the next session.
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Oleksandr Bezdieniezhnykh
2026-05-08 01:12:43 +03:00
parent 48dd81ee0f
commit e0a6f0d9d5
3 changed files with 273 additions and 4 deletions
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_docs/_autodev_state.md
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@@ -6,8 +6,8 @@ step: 2
name: Research
status: in_progress
sub_step:
phase: 10
name: sq3-sq4-c1-vio-candidates
detail: "Mode A Phase 2 engine Step 4 — SQ3+SQ4 per-component candidate matrix, starting with C1 (VO/VIO). SQ1 ✓, SQ2 ✓ closed with three architectural decisions resolved by user (recorded in 00_question_decomposition.md): (1) DSM dependency = (a) 3-DoF acceptance (no DSM in cache; attitude from IMU/VIO); (2) AdHoP = (b) conditional (only when initial reprojection error exceeds threshold); (3) Top-N re-rank = (a) promoted to explicit pipeline sub-stage between C2 and C3. Pipeline shape entering SQ3+SQ4: C1 (VIO) → C2 (VPR) → Top-N re-rank → C3 (matcher) → AdHoP-conditional → C4 (PnP+RANSAC+LM) → C5 (estimator) → C8 (FC adapter), with C6 (cache 2D-ortho) + C7 (Jetson runtime) + C9 (datasets) + C10 (provisioning) cross-cutting. C1 candidates entering SQ3+SQ4 (RTAB-Map and ORB-SLAM3 already pruned by Fact #16): VINS-Mono / VINS-Fusion / OpenVINS / OKVIS2 / DROID-SLAM / DPVO / pure-VO baseline (KLT + RANSAC homography). Per-mode context7 capability verification mandatory for every lead library/SDK candidate. Next conversation: re-enter Step 2 / sub_step phase 10 name 'sq3-sq4-c1-vio-candidates', execute Per-Component Search Plan (`research/steps/03_engine-investigation.md` Step 4) starting with C1: enumerate 5+ search variants per candidate, log to 01_source_registry.md + 02_fact_cards.md, then Component Applicability Gate (must pass: monocular VIO, ≥3 fps output, Jetson Orin Nano runnable, license OK for dual-use)."
phase: 12
name: c1-context7-and-restrictions-ac-submatrix
detail: "C1 candidate enumeration done (Sources #43–#53 in 01_source_registry.md, Facts #28–#36 in 02_fact_cards.md). Surviving lead candidates (priority order): (1) OpenVINS — GPL-3.0, best Jetson Orin Nano evidence; (2) OKVIS2 / OKVIS2-X — BSD-3, most actively maintained, GNSS-fusion alignment for AC-NEW-2; (3) VINS-Mono — GPL-3.0, proven on Jetson Nano; (4) Pure VO baseline — mandatory simple-baseline reference. Disqualified: DROID-SLAM (AC-4.2 memory budget), RTAB-Map / ORB-SLAM3 (Fact #16). Conditional: DPVO (VO not VIO; needs external IMU wrapper), Kimera-VIO (resource overhead). Two open decisions surfaced: D-C1-1 GPL-3.0 license posture for onboard binary (BLOCKING for GPL-3 trio) and D-C1-2 Jetson Orin Nano MVE schedule. NEXT SESSION'S WORK (BLOCKING per Per-Mode API Capability Verification rule): (a) context7 lookup × 3 mandatory queries per lead candidate (OpenVINS, OKVIS2/OKVIS2-X, VINS-Mono) covering mode enumeration + project's exact mode runnable example + disqualifier probe; (b) MVE block per candidate in 02_fact_cards.md; (c) per-numbered-Restriction × per-numbered-AC sub-matrix per candidate; (d) write 06_component_fit_matrix.md draft for C1 row; (e) ASK USER on Decision D-C1-1 before promoting any GPL-3 candidate to Selected. AFTER C1 IS CLOSED: proceed to C2 (VPR) candidate enumeration."
retry_count: 0
cycle: 1