feat(perception): qualify lidar evidence before models

2026-07-25 01:00:26 +03:00
parent 37c24b5fa8
commit 3f549f91f1
8 changed files with 1185 additions and 0 deletions
@@ -0,0 +1,55 @@
+# ADR 0018: qualify LiDAR evidence before selecting accelerated models
+
+Date: 2026-07-25
+Status: accepted
+
+## Context
+
+Mission Core preserves K1 point clouds, poses, cameras and factory calibration
+and already runs an external NVIDIA worker for camera perception. The next
+candidate components include PointPillars, CenterPoint, Patchwork++, nvblox and
+several LiDAR SLAM systems.
+
+Those components do not share the same input assumptions. The current K1
+`lio_pcl` source is a vendor-mapped increment in the canonical `map` frame with intensity and a
+separate best-effort pose. It is not an unregistered sweep and exposes no
+admitted ring, per-point time or IMU stream. The accepted E10 replay pack also
+drops intensity.
+
+Installing a component without expressing those facts would let runtime success
+be mistaken for geometric validity.
+
+## Decision
+
+1. Mission Core owns a versioned, provider-neutral
+   `missioncore.lidar-evidence-profile/v1`.
+2. Each processing stage receives a deterministic readiness result with
+   explicit blockers.
+3. Existing content-addressed replay schemas are immutable. A lossless replay
+   improvement is a new version.
+4. The first detector seam consumes sensor-frame XYZI. Map-frame K1 points are
+   converted only with the bound `T_map_from_lidar` pose, and verified uint8
+   intensity is normalized to `[0, 1]`.
+5. Missing ring, point time, scan geometry or IMU evidence remains missing. It
+   is never synthesized to satisfy a model.
+6. Accelerated models remain external worker providers. React consumes reports,
+   overlays and world-state products; it does not host CUDA/TensorRT/ROS 2
+   compute.
+7. All LiDAR results remain diagnostic/shadow until separate navigation and
+   safety gates pass.
+
+## Consequences
+
+- PointPillars integration is blocked for replay pack v1 and degraded for the
+  current live vendor-mapped source.
+- Nvblox is blocked until the LiDAR scan geometry and timing/pose contract are
+  admitted.
+- LiDAR odometry and LiDAR-inertial SLAM are blocked for current K1 evidence.
+- L1 lossless replay and scanner-quality telemetry precede new model installs.
+- Future scanners, simulation providers and datasets can use the same
+  readiness contract without being forced into K1-specific code.
+
+## References
+
+The detailed product rationale, market review, gates and sequence are in
+`docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md`.