mirror of
https://github.com/azaion/gps-denied-onboard.git
synced 2026-06-21 10:21:13 +00:00
Oleksandr Bezdieniezhnykh
59 lines
4.3 KiB
Markdown
59 lines
4.3 KiB
Markdown
# Validation Log
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## Validation Scenario
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Mode B validates the revised architecture against four weak-point scenarios:
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1. Package a representative 400 km² cache slice at 0.3-0.5 m/px with COG exchange files, onboard SQLite/MBTiles-like tiles, manifests, overviews, VPR descriptors, and sidecars.
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2. Build a VPR index for 600-800 m chunks with 40-50% overlap, using raw AnyLoc/DINOv2-VLAD descriptors and at least one compressed descriptor variant.
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3. Benchmark local verification on the provided 60-frame sequence plus AerialVL/UAV-VisLoc-style public data using ALIKED + LightGlue, OpenCV SIFT/AKAZE, and DeDoDe by default.
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4. Replay a GPS-denied flight in ArduPilot SITL with synthetic IMU and camera timestamps, then repeat with real FC/camera logs once available.
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5. Stress the scheduler with synthetic heavy VPR/local-matcher events and verify stale frames are dropped rather than queued.
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## Expected Based on Conclusions
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- Cache package stays under 10 GB only if representative compression, overviews, descriptor compression, and metadata are measured together.
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- VPR remains event-triggered and can load/query within the 8 GB memory envelope after descriptor compression.
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- Official Magic Leap SuperPoint weights are absent from product builds unless commercial licensing is obtained.
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- ALIKED + LightGlue, OpenCV SIFT/AKAZE, and DeDoDe are benchmarked as distinct local-matcher candidates instead of hiding behind a generic "license-cleared extractor" label.
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- The camera queue remains bounded; frame drops are counted; emitted `GPS_INPUT` messages reference fresh estimator timestamps.
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- Local matcher acceptance is based on measured geodetic error, inlier quality, covariance consistency, and false-positive rejection, not only pixel MRE.
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- Public datasets are used for early retrieval/matching proof; final fusion and MAVLink acceptance uses SITL or real FC IMU/camera timing traces.
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- v1 emits `GPS_INPUT` only; no `ODOMETRY` message appears on the wire.
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## Actual Validation Results
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Not executed in research phase. This log defines the validation plan for implementation and test decomposition.
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## Counterexamples
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- A technically accurate SuperPoint benchmark is not product-usable if it depends on noncommercial weights.
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- A VPR demo can fit latency while still violating memory/cache budgets if uncompressed 49,152-dimensional descriptors are used at all chunk scales.
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- A 400 km² imagery package can fit compressed raster storage but fail once descriptors, indexes, generated tiles, and metadata are counted.
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- Public datasets can pass retrieval metrics but still miss FC timing, IMU covariance, thermal, and MAVLink source behavior.
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- A FIFO image queue can meet throughput on average while still violating the p95 freshness requirement under bursty VPR/matcher load.
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## Review Checklist
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- [x] Draft conclusions consistent with fact cards.
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- [x] No important Mode B weak-point dimensions missed for v1 architecture.
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- [x] No over-extrapolation from urban-only cross-view datasets.
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- [x] Selected components checked against the Project Constraint Matrix.
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- [x] Mismatches recorded as disqualifiers or gates.
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- [x] Noncommercial SuperPoint weights rejected for product v1 unless licensed.
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- [x] Concrete local-matcher candidates named for planning.
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- [x] Real-time scheduler/drop policy added as an architectural component.
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- [ ] Cache-packing benchmark still required with Suite Satellite Service sample imagery.
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- [ ] VPR descriptor compression benchmark still required on Jetson Orin Nano Super.
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- [ ] Real IMU/FC logs still required for final validation.
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## Conclusions Requiring Revision
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- Replace direct SuperPoint dependency language with named license-cleared matcher candidates; official Magic Leap weights are rejected for product v1 unless separately licensed.
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- Replace generic "license-cleared extractor" with named candidates: ALIKED + LightGlue, OpenCV SIFT/AKAZE, and DeDoDe fallback.
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- Add a bounded latest-frame scheduler and scheduler stress tests to the plan.
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- Add an explicit VPR descriptor compression/index-size gate before implementation freeze.
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- Add an explicit cache-packing benchmark before accepting the 10 GB persistent-cache budget.
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- If CPU FAISS/HNSW retrieval exceeds latency, benchmark source-built GPU FAISS or a smaller descriptor/index design.
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- If the selected lens fails 10-20 cm/px at <=1 km AGL, recalibrate footprint, VPR chunk size, and matcher scale assumptions.
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