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docs(perception): define traversability evaluation sequence

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2026-08-26 16:56:15 +03:00
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@@ -189,6 +189,13 @@ sealed Current/Patchwork++ comparison rejected Patchwork++ for navigation:
despite much lower latency and a small Ground-IoU gain, obstacle non-ground
recall regressed from `80.46%` to `69.70%`.
Operator review of the later M4.8R3 LOW-STEP replay rejected its connected-
component camera boxes as the product representation for general static
obstacles. The replacement evaluation is terrain-relative and sequential:
GSeg3D plus Nav2 Ground Consistency first, TRAVEL as the class-free challenger,
and nvblox only as a separately measured occupancy/ESDF candidate. See the
[traversability and static-obstacle stack decision](docs/23_TRAVERSABILITY_AND_STATIC_OBSTACLE_STACK_DECISION.md).
See [the Dataset Gateway plan](docs/14_LIDAR_DATASET_GATEWAY.md),
[the laboratory run canon](docs/15_LABORATORY_RUN_CANON.md) and
[ADR 0021](docs/adr/0021-dataset-gateway-representation-boundary.md).