feat(perception): add full camera-first shadow

docs/13_LIDAR_WORKER_PRODUCT_AND_ROADMAP.md

@@ -415,6 +415,13 @@ Dataset expansion is no longer the next gate.
 - [x] Add a separate diagnostic motion-observation and near-occupied proximity
   derivative with temporal freshness, source provenance and no persistent-map
   mutation.
+- [x] Run the candidate camera detector through the canonical E29 association
+  over all 4,489 RAVNOVES00 frames. Keep camera semantic ownership, publish
+  LiDAR range only from qualified occupied support and retain the detector as
+  a diagnostic shadow pending independent quality review.
+- [x] Version the vehicle-body/LiDAR-mount contract and bind RAVNOVES00
+  fail-closed as a portable, physically unbound K1 source without invented
+  dimensions or transforms.
 - [ ] Admit a `recent-collision` state only after vehicle-body and LiDAR-mount
   geometry are bound; proximity is not collision truth.
 - [x] Reuse the accepted camera-to-LiDAR projection as an optional semantic

docs/16_ARCHITECTURE_AUDIT_EXECUTION_ROADMAP.md

@@ -176,6 +176,13 @@ real authority.
 - [x] Verify strict round-trip plus adversarial duplicate ownership, unknown
   owner, camera-only/conflict range, geometry-only semantics, held/persistent
   ownership, unavailable source and authority mutation cases.
+- [x] Reuse the canonical E29 frame association in E53 over all 4,489
+  RAVNOVES00 frames with a second camera candidate. Preserve camera semantic
+  ownership, keep unavailable LiDAR range explicit and reject runtime
+  promotion without independent truth.
+- [x] Add `missioncore.rig-geometry/v1` with strict unbound/measured/qualified
+  states. Bind the portable RAVNOVES00 K1 as `unbound`; do not infer a vehicle
+  body or LiDAR-to-body mount from the recording.
 
 The frozen A3 engineering and human generations cover all 486 items and
 retains the exact A2 materialization/review-pack and 42-sheet evidence

docs/adr/0035-camera-first-shadow-and-rig-geometry-boundary.md

@@ -0,0 +1,57 @@
+# ADR 0035: Camera-first shadow and physical rig-geometry boundary
+
+Date: 2026-07-30
+Status: accepted and implemented
+
+## Decision
+
+Mission Core preserves one perception ownership rule:
+
+```text
+camera owns semantic class and object proposal
+LiDAR owns metric support and range
+```
+
+The canonical E29 association is exposed as one reusable frame evaluator and
+is reused by E29 and full-source candidate shadows. A camera proposal remains
+an object when LiDAR support is unavailable; its range remains unavailable.
+Unassociated LiDAR geometry remains geometry without a semantic class.
+
+E53 runs a candidate camera detector over every RAVNOVES00 frame through that
+unchanged association. It is a diagnostic shadow and cannot mutate E29,
+persistent reconstruction or runtime detector selection.
+
+## Rig geometry
+
+Vehicle-body and LiDAR mount/extrinsic use
+`missioncore.rig-geometry/v1`. The contract has three states:
+
+- `unbound`: no physical body or mount values may be present;
+- `measured`: body and rigid transform require immutable measurement evidence
+  and uncertainty, but collision remains unavailable;
+- `qualified`: geometry passed its named qualification method, while
+  collision still requires a separate algorithm and safety gate.
+
+RAVNOVES00 binds `ravnoves00-portable-k1/unbound-v1`. It is portable K1
+evidence and supplies no vehicle body or measured LiDAR→body transform.
+Invented dimensions, sensor height or identity transforms are rejected.
+
+## Resource correction
+
+The first E53 full pass exposed repeated decompression of
+`cloud_points_map` inside the frame loop. That immutable result failed its
+50 ms p95 gate at 210.7093 ms.
+
+The accepted implementation materializes compressed source members once
+before sequential frame processing. The corrected run processed all 4 489
+frames at 1.7993 ms p95 and 36.8594 MiB peak-RSS growth. No Docker, worker,
+network service or second Mission Core backend participates in the path.
+
+## Authority
+
+E53 proves technical full-source execution, not detector accuracy:
+
+- E29 overlap is comparison, not ground truth;
+- adjacent image-space IoU is continuity diagnostics, not tracking truth;
+- the candidate detector is not operationally promoted;
+- collision, navigation, safety and commands remain false.