mirror of
https://github.com/azaion/gps-denied-onboard.git
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Oleksandr Bezdieniezhnykh
95 lines
3.6 KiB
Markdown
95 lines
3.6 KiB
Markdown
# Performance Tests
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### NFT-PERF-01: Per-Frame Latency On Project Still Images
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**Summary**: Validate end-to-end latency for processing project nadir frames through geolocation output.
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**Traces to**: AC-4.1, AC-4.4
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**Metric**: Capture-to-output latency p50/p95/p99 and dropped-frame rate.
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**Preconditions**:
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- Jetson Orin Nano Super or equivalent production target is running in the intended power mode.
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- `project_60_still_images` fixture is available.
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| Step | Consumer Action | Measurement |
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|------|-----------------|-------------|
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| 1 | Replay images at target 3 fps or faster stress rate | Measure latency from input timestamp to emitted estimate |
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| 2 | Record all frame drops | Measure dropped-frame percentage |
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**Pass criteria**: p95 latency <400 ms; dropped frames <=10% under sustained load; no batching delay.
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**Duration**: Minimum 20 minutes or full fixture loop repeated enough times to reach stable measurements.
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---
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### NFT-PERF-02: BASALT + Wrapper Replay Latency
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**Summary**: Validate relative VIO hot-path latency using synchronized public or representative camera/IMU data.
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**Traces to**: AC-2.1a, AC-4.1, AC-4.2
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**Metric**: Per-frame VIO latency, completion rate, and memory usage.
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**Preconditions**:
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- MUN-FRL/ALTO/EPFL/Kagaru or representative synchronized dataset slice is pinned.
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- OpenVINS reference replay is available for comparison.
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| Step | Consumer Action | Measurement |
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|------|-----------------|-------------|
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| 1 | Replay synchronized camera/IMU stream through BASALT + wrapper | Measure per-frame processing time |
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| 2 | Compare emitted trajectory against ground truth | Measure completion rate and error distribution |
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| 3 | Monitor memory | Track CPU/GPU shared memory peak |
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**Pass criteria**: Normal-frame VO registration >95%; p95 processing latency <400 ms for the hot path; memory <8 GB shared.
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**Duration**: Dataset-dependent; at least one normal segment and one challenging segment.
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---
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### NFT-PERF-03: Relocalization Trigger Path Latency
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**Summary**: Validate the heavy DINOv2-VLAD + FAISS + ALIKED/LightGlue path under bounded top-K settings.
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**Traces to**: AC-3.2, AC-3.3, AC-4.1, AC-8.6
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**Metric**: Trigger-to-anchor latency, top-K query time, local verification time, accepted/rejected anchor counts.
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**Preconditions**:
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- Precomputed descriptor index is loaded.
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- Dynamic K settings are configured: K=5 stable, K=20 active-conflict, K=50 fallback.
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| Step | Consumer Action | Measurement |
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|------|-----------------|-------------|
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| 1 | Trigger relocalization from cold start or sharp turn | Measure DINOv2 descriptor time and FAISS query time |
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| 2 | Verify top-K candidates | Measure ALIKED/LightGlue + RANSAC latency |
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| 3 | Emit accepted/rejected decision | Measure total trigger-to-decision latency |
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**Pass criteria**: Heavy path is conditional, never blocks steady-state frame output; accepted anchor carries MRE <2.5 px and valid covariance.
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**Duration**: 100 relocalization trials across stable and active-conflict sector fixtures.
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---
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### NFT-PERF-04: Cold Boot Time To First Fix
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**Summary**: Validate companion boot to first valid `GPS_INPUT`.
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**Traces to**: AC-NEW-1
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**Metric**: Time from service start/boot marker to first valid `GPS_INPUT`.
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**Preconditions**:
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- Engines/indexes are built before the run.
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- Cache/index is available locally.
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- FC state handoff is simulated or provided.
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| Step | Consumer Action | Measurement |
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|------|-----------------|-------------|
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| 1 | Start service from cold boot condition | Measure initialization stages |
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| 2 | Wait for first valid output | Measure first valid `GPS_INPUT` timestamp |
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**Pass criteria**: 95th percentile <30 s over 50 runs.
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**Duration**: 50 cold-start trials.
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