gps-denied-onboard/docs/03_tests/56_multi_chunk_simultaneous_spec.md

Acceptance Test: Multi-Chunk Simultaneous Processing

Summary

Validate system's ability to process multiple chunks simultaneously, matching and merging them asynchronously.

Linked Acceptance Criteria

AC-4: Robust to sharp turns (<5% overlap) AC-5: Connect route chunks (multiple chunks)

Preconditions

1. F10 Factor Graph Optimizer with native multi-chunk support
2. F12 Route Chunk Manager functional
3. F11 Failure Recovery Coordinator with chunk orchestration
4. Test dataset: Flight with 3 disconnected segments

Test Description

Test system's ability to handle multiple disconnected route segments simultaneously. The system should create chunks proactively, process them independently, and match/merge them asynchronously without blocking frame processing.

Test Steps

Step 1: Create Multi-Segment Flight

• Action: Create flight with 3 disconnected segments:
  • Segment 1: AD000001-010 (10 frames, sequential)
  • Segment 2: AD000025-030 (6 frames, no overlap with Segment 1)
  • Segment 3: AD000050-055 (6 frames, no overlap with Segments 1 or 2)
• Expected Result: Flight created with all 22 images

Step 2: Process Segment 1

• Action: Process AD000001-010
• Expected Result:
  • Chunk_1 created (frames 1-10)
  • Sequential VO provides relative factors
  • Factors added to chunk_1's subgraph
  • Chunk_1 optimized independently
  • GPS anchors from LiteSAM matching
  • Chunk_1 anchored and merged to main trajectory

Step 3: Detect Discontinuity (Segment 1 → 2)

• Action: Process AD000025 after AD000010
• Expected Result:
  • Tracking lost detected (large displacement ~2km)
  • Chunk_2 created proactively (immediate, not reactive)
  • Processing continues immediately in chunk_2
  • Chunk_1 remains in factor graph (not deleted)

Step 4: Process Segment 2 Independently

• Action: Process AD000025-030
• Expected Result:
  • Frames processed in chunk_2 context
  • Relative factors added to chunk_2's subgraph
  • Chunk_2 optimized independently
  • Chunk_1 and chunk_2 exist simultaneously
  • Chunk_2 matching attempted asynchronously (background)

Step 5: Detect Discontinuity (Segment 2 → 3)

• Action: Process AD000050 after AD000030
• Expected Result:
  • Tracking lost detected again
  • Chunk_3 created proactively
  • Processing continues in chunk_3
  • Chunk_1, chunk_2, chunk_3 all exist simultaneously

Step 6: Process Segment 3 Independently

• Action: Process AD000050-055
• Expected Result:
  • Frames processed in chunk_3 context
  • Chunk_3 optimized independently
  • All 3 chunks exist simultaneously
  • Each chunk processed independently

Step 7: Asynchronous Chunk Matching

• Action: Background task attempts matching for unanchored chunks
• Expected Result:
  • Chunk_2 semantic matching attempted
  • Chunk_2 LiteSAM matching attempted
  • Chunk_2 anchored when match found
  • Chunk_3 semantic matching attempted
  • Chunk_3 LiteSAM matching attempted
  • Chunk_3 anchored when match found
  • Matching happens asynchronously (doesn't block frame processing)

Step 8: Chunk Merging

• Action: Merge chunks as they become anchored
• Expected Result:
  • Chunk_2 merged to chunk_1 when anchored
  • Chunk_3 merged to merged trajectory when anchored
  • Sim(3) transforms applied correctly
  • Global optimization performed
  • All chunks merged into single trajectory

Step 9: Verify Final Trajectory

• Action: Verify all 22 frames have GPS coordinates
• Expected Result:
  • All frames have GPS coordinates
  • Trajectory globally consistent
  • No systematic bias between segments
  • Accuracy: 20/22 < 50m (90.9%)

Success Criteria

Primary Criterion:

• Multiple chunks created simultaneously
• Chunks processed independently
• Chunks matched and merged asynchronously
• Final trajectory globally consistent

Supporting Criteria:

• Chunk creation is proactive (immediate)
• Frame processing continues during chunk matching
• Chunk matching doesn't block processing
• Sim(3) transforms computed correctly

Expected Results

Multi-Chunk Simultaneous Processing:
- Chunk_1: frames 1-10, anchored, merged
- Chunk_2: frames 25-30, anchored asynchronously, merged
- Chunk_3: frames 50-55, anchored asynchronously, merged
- Simultaneous existence: All 3 chunks exist at same time
- Independent processing: Each chunk optimized independently
- Asynchronous matching: Matching doesn't block frame processing
- Final trajectory: Globally consistent
- Accuracy: 20/22 < 50m (90.9%)

Pass/Fail Criteria

TEST PASSES IF:

• Multiple chunks created simultaneously
• Chunks processed independently
• Chunks matched and merged asynchronously
• Final trajectory globally consistent
• Accuracy acceptable (≥ 80% < 50m)

TEST FAILS IF:

• Chunks not created simultaneously
• Chunk processing blocks frame processing
• Chunk matching blocks processing
• Merging produces inconsistent trajectory
• Final accuracy below threshold

Architecture Elements

Multi-Chunk Support:

• F10 Factor Graph Optimizer supports multiple chunks simultaneously
• Each chunk has own subgraph
• Chunks optimized independently

Proactive Chunk Creation:

• Chunks created immediately on tracking loss
• Not reactive (doesn't wait for matching to fail)
• Processing continues in new chunk

Asynchronous Matching:

• Background task processes unanchored chunks
• Matching doesn't block frame processing
• Chunks matched and merged asynchronously

Chunk Merging:

• Sim(3) transform for merging
• Accounts for translation, rotation, scale
• Global optimization after merging

Notes

• Multiple chunks can exist simultaneously
• Chunk processing is independent and non-blocking
• Asynchronous matching reduces user input requests
• Sim(3) transform critical for scale ambiguity resolution