feat(lidar): qualify Patchwork++ on GOOSE

docs/adr/0021-dataset-gateway-representation-boundary.md

@@ -87,24 +87,34 @@ unavailable rather than inventing timestamps.
 - Sensor adaptation may change range, FOV, point density, noise and dropout for
   robustness experiments, but it cannot recreate lost timestamps, occlusions
   or material response.
-- Patchwork++ becomes eligible for a real quality gate only on a sensor-centric
-  scan with declared scan geometry and physical mounting height plus
-  independent labels.
+- Patchwork++ becomes eligible for an algorithm-specific quality gate on a
+  sensor-centric scan with declared axes, physical mounting height and
+  independent labels. That narrow admission does not itself create a general
+  `normalized-scan`.
 - Stable operator visualization is owned by rolling-map policy, not by the
   ground classifier.
 - Public labels may qualify an algorithm independently of the production
   sensor. The first GOOSE frame exposed a `49.62%` Ground IoU and only `49.45%`
   natural-ground recall for the current local-percentile baseline; these are
   diagnostic results, not production promotion.
-- A dataset label contract does not imply a mounting contract. Patchwork++
-  remains blocked until the numeric GOOSE roof-LiDAR transform and physical
-  height are admitted from source evidence.
+- A dataset label contract does not imply a mounting contract. For MuCAR-3,
+  GOOSE's published dimensioned schematic admits the Patchwork-specific
+  `2.24 m` sensor height (`0.64 + 1.60 m`) and `x-forward / y-left / z-up`
+  axes. The complete numeric vehicle transform, deskew and general
+  `normalized-scan` remain unavailable.
+- On the first independently labeled frame, pinned Patchwork++ `v1.4.1`
+  achieved `60.37%` Ground IoU, `71.59%` natural-ground recall and `15.89 ms`
+  worker latency versus Current's `49.62%`, `49.45%` and `3966.53 ms`.
+  This is a one-frame diagnostic candidate decision, not production promotion.
 
 ## Primary references
 
 - [GOOSE dataset structure](https://goose-dataset.de/docs/dataset-structure/)
 - [GOOSE setup and archive sizes](https://goose-dataset.de/docs/setup/)
 - [GOOSE 3D challenge ontology](https://goose-dataset.de/docs/3d-semantic-segmentation-challenge/)
+- [GOOSE MuCAR-3 sensor setup](https://goose-dataset.de/docs/mucar3/)
+- [GOOSE paper and dimensioned sensor schematic](https://arxiv.org/pdf/2310.16788)
+- [Patchwork++ v1.4.1](https://github.com/url-kaist/patchwork-plusplus/tree/v1.4.1)
 - [Livox ROS Driver 2 point formats](https://github.com/Livox-SDK/livox_ros_driver2)
 - [Livox LIO motion-distortion handling](https://github.com/Livox-SDK/LIO-Livox)
 - [ROS FilterDeskew timestamp requirement](https://docs.ros.org/en/noetic/api/mp2p_icp/html/classmp2p__icp__filters_1_1FilterDeskew.html)