feat(perception): add ground-aware cuboid refusion

2026-07-23 08:24:37 +03:00
parent b53d6d5a45
commit a0706fd5d8
8 changed files with 1116 additions and 114 deletions
@@ -0,0 +1,172 @@
+{
+  "schema_version": "missioncore.e10-integrated-perception-profile/v1",
+  "profile_id": "lab-e19-ground-aware-cuboids-v1",
+  "mode": "full-session-qualification",
+  "source": {
+    "source_id": "sensor.camera.right",
+    "resolution": [800, 600],
+    "calibration_slot": "camera_1",
+    "calibration_sha256": "05f3ad9b38b3a4fc95388a8ec83da83c745e217709e51787b3d5aad0969f6fa9"
+  },
+  "selection": {
+    "required_frame_count": 4489,
+    "required_source_start_frame_index": 0,
+    "required_source_end_frame_index": 4488,
+    "minimum_source_span_seconds": 448.0
+  },
+  "replay": {
+    "speed": 1.0,
+    "detector_queue_capacity": 2,
+    "semantic_queue_capacity": 1,
+    "semantic_sample_every_frames": 5,
+    "semantic_ttl_ms": 750.0
+  },
+  "association": {
+    "box_inset": {
+      "bottom_fraction": 0.02,
+      "horizontal_fraction": 0.05,
+      "top_fraction": 0.04
+    },
+    "depth_cluster_gap_fraction": 0.06,
+    "depth_cluster_minimum_gap_m": 0.5,
+    "group_nms_iou_threshold": 0.5,
+    "support_duplicate_overlap_threshold": 0.6,
+    "object_support_ground_filter": {
+      "mode": "local-ground-relative-object-support-v1",
+      "local_radius_m": 2.5,
+      "lower_percentile": 8.0,
+      "maximum_below_support_m": 1.2,
+      "maximum_above_support_m": 0.15,
+      "fallback_below_support_m": 0.25,
+      "minimum_height_above_ground_m": {
+        "person": 0.08,
+        "bicycle": 0.08,
+        "motorcycle": 0.08,
+        "vehicle": 0.12
+      },
+      "maximum_height_above_ground_m": {
+        "person": 2.5,
+        "bicycle": 2.5,
+        "motorcycle": 2.5,
+        "vehicle": 4.5
+      }
+    },
+    "maximum_cuboid_span_m": 15.0,
+    "maximum_distance_innovation_fraction": 0.25,
+    "maximum_distance_innovation_m": 1.5,
+    "maximum_oriented_extent_m": {
+      "bicycle": [3.5, 2.0, 2.5],
+      "motorcycle": [3.5, 2.0, 2.5],
+      "person": [1.5, 1.5, 2.8],
+      "vehicle": [12.5, 4.0, 4.5]
+    },
+    "minimum_cuboid_extent_m": 0.15,
+    "minimum_support_points": {
+      "bicycle": 4,
+      "motorcycle": 4,
+      "person": 4,
+      "vehicle": 8
+    },
+    "semantic_ids": {
+      "bicycle": [2],
+      "motorcycle": [3],
+      "person": [1],
+      "vehicle": [4, 5]
+    },
+    "spatial_cluster_radius_m": {
+      "bicycle": 0.9,
+      "motorcycle": 0.9,
+      "person": 0.9,
+      "vehicle": 1.5
+    },
+    "vehicle_labels": ["car", "truck", "bus"],
+    "distance_history_frames": 5
+  },
+  "cuboid_completion": {
+    "mode": "class-prior-amodal-v1",
+    "failure_policy": "reject",
+    "classes": {
+      "person": {
+        "nominal_size_m": [0.55, 0.55, 1.72],
+        "minimum_size_m": [0.35, 0.35, 1.3],
+        "maximum_size_m": [1.2, 1.2, 2.3],
+        "support_padding_m": [0.12, 0.12, 0.12]
+      },
+      "bicycle": {
+        "nominal_size_m": [1.8, 0.65, 1.5],
+        "minimum_size_m": [1.2, 0.4, 1.0],
+        "maximum_size_m": [2.5, 1.2, 2.2],
+        "support_padding_m": [0.18, 0.12, 0.12]
+      },
+      "motorcycle": {
+        "nominal_size_m": [2.1, 0.8, 1.45],
+        "minimum_size_m": [1.4, 0.5, 1.0],
+        "maximum_size_m": [3.0, 1.4, 2.2],
+        "support_padding_m": [0.2, 0.14, 0.14]
+      },
+      "car": {
+        "nominal_size_m": [4.5, 1.85, 1.55],
+        "minimum_size_m": [3.2, 1.45, 1.2],
+        "maximum_size_m": [5.8, 2.4, 2.3],
+        "support_padding_m": [0.25, 0.18, 0.15]
+      },
+      "truck": {
+        "nominal_size_m": [7.0, 2.5, 3.0],
+        "minimum_size_m": [4.8, 1.8, 1.8],
+        "maximum_size_m": [12.5, 3.2, 4.2],
+        "support_padding_m": [0.35, 0.22, 0.2]
+      },
+      "bus": {
+        "nominal_size_m": [10.5, 2.55, 3.2],
+        "minimum_size_m": [7.0, 2.1, 2.5],
+        "maximum_size_m": [13.5, 3.2, 4.2],
+        "support_padding_m": [0.4, 0.24, 0.2]
+      }
+    },
+    "ground": {
+      "local_radius_m": 2.5,
+      "lower_percentile": 8.0,
+      "maximum_below_support_m": 1.2,
+      "maximum_above_support_m": 0.15,
+      "fallback_below_support_m": 0.25
+    },
+    "orientation": {
+      "minimum_anisotropy_ratio": 1.35,
+      "face_width_switch_fraction": 1.05
+    },
+    "temporal": {
+      "center_alpha": 0.4,
+      "size_alpha": 0.2,
+      "yaw_alpha": 0.25,
+      "maximum_center_innovation_m": 2.0,
+      "maximum_yaw_innovation_degrees": 55.0,
+      "maximum_idle_s": 1.0,
+      "confirmation_hits": 3
+    },
+    "minimum_support_coverage_fraction": 0.75
+  },
+  "world_state": {
+    "velocity_history_limit_s": 1.0,
+    "clearance": {
+      "sector_count": 72,
+      "minimum_range_m": 0.5,
+      "maximum_range_m": 30.0,
+      "ground_percentile": 5.0,
+      "minimum_height_above_ground_m": 0.2,
+      "maximum_height_above_ground_m": 3.0,
+      "front_half_angle_degrees": 15.0
+    }
+  },
+  "acceptance": {
+    "detector_minimum_effective_fps": 9.5,
+    "detector_maximum_drop_fraction": 0.005,
+    "maximum_p95_world_state_age_ms": 175.0,
+    "semantic_minimum_effective_fps": 1.8,
+    "semantic_maximum_drop_fraction": 0.05,
+    "semantic_maximum_p95_completion_age_ms": 400.0,
+    "minimum_fresh_semantic_coverage": 0.9,
+    "minimum_lidar_fused_frames": 3500,
+    "minimum_accepted_cuboids": 1500,
+    "require_zero_failures": true
+  }
+}
@@ -26,6 +26,7 @@ from e10_fusion_runtime import (
    LidarReplayPack,
    WorldStateProjector,
    _completion_profile,
+    _object_support_ground_filter_profile,
    canonical_json,
    clearance,
    distance_history,
@@ -160,6 +161,14 @@ def read_profile(path: Path) -> tuple[dict[str, Any], str]:
        if not isinstance(completion, dict):
            raise RuntimeError("LAB E13 cuboid completion contract is invalid")
        _completion_profile(completion)
+    ground_filter = association.get("object_support_ground_filter")
+    if ground_filter is not None:
+        if not isinstance(ground_filter, dict):
+            raise RuntimeError("object-support ground filter contract is invalid")
+        _object_support_ground_filter_profile(ground_filter)
+    duplicate_overlap = association.get("support_duplicate_overlap_threshold")
+    if duplicate_overlap is not None and not 0.0 < float(duplicate_overlap) <= 1.0:
+        raise RuntimeError("support duplicate overlap contract is invalid")
    return profile, sha256(resolved)