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LiDAR Dataset Gateway

Product value

The Dataset Gateway gives Mission Core a repeatable perception laboratory before the production vehicle and its final sensor installation exist. It separates four questions that were previously mixed together:

whether the transport preserved the sensor evidence;
whether preprocessing produces a valid one-scan perception input;
whether an algorithm is accurate against independent labels;
whether several scans form a stable local map for an operator or planner.

This prevents tuning an algorithm until a visually dense vendor map merely looks plausible. It also keeps work reusable across Gazebo, Unreal, public datasets and future real onboard sensors.

Current admitted slice

Implemented now:

missioncore.dataset-gateway-catalog/v2, exposed read-only at GET /api/v1/lidar/dataset-gateway;
path-free missioncore.dataset-admission/v1 worker evidence instead of a static React status;
a bounded missioncore.dataset-native-scan-preview/v1, exposed read-only at GET /api/v1/lidar/dataset-gateway/preview;
explicit native-scan, normalized-scan and rolling-local-map representations;
a lossless GOOSE/SemanticKITTI frame reader for little-endian float32 XYZI and packed uint32 semantic/instance labels;
count, finite-value and maximum-point safety gates;
immutable point-aligned arrays;
a fail-closed K1 lio_pcl boundary;
worker storage admission for D:\NDC_MISSIONCORE\datasets and /mnt/d/NDC_MISSIONCORE/datasets;
a dedicated, honest dataset catalog in Полигон → Датасеты;
live admission states (downloading, verifying, frame-ready) and a real Открыть action;
one admitted GOOSE validation frame with source colors, normalized remission and an independent ground-truth view;
a separate Парк → Диагностика LiDAR surface containing only real sensor recordings and their operational evidence.

Not implemented:

no browser-triggered large-artifact download;
no implicit coordinate conversion;
no fake ring/timestamp reconstruction for K1 MQTT evidence;
no model training or production promotion;
no rolling-map implementation yet.

Product surface boundary

The gateway is not part of device quality diagnostics.

Парк → Диагностика LiDAR answers whether a selected real sensor recording is present, reproducible and operationally usable. It never mixes public dataset frames into the selected device evidence.
Наблюдение opens a concrete live or recorded spatial scene.
Данные owns source-of-record, retention, replay preparation and export.
Полигон → Датасеты lists admitted evaluation inputs.
Полигон → Прогоны owns the resulting algorithm comparison, metrics, provenance and decision.

Before real dataset bytes exist, the catalog explains the blocked storage gate and keeps Открыть / Создать прогон disabled. Открыть becomes available only after the worker manifest says frame-ready and the bounded preview passes its own point-alignment and safety checks. Создать прогон remains disabled until an executable comparison profile exists.

Why public recordings look different

GOOSE stores one VLS-128 revolution per annotated .bin file. A rotating multi-channel sensor produces discrete scan lines, so a single sensor-frame view looks like sparse rings.

The admitted goose_3d_val.zip uses lidar/val/.../*_vls128.bin even though some GOOSE documentation examples call the point-cloud root velodyne. Mission Core accepts either declared root but still requires an exactly aligned labels/val/.../*_goose.label.

The current field review is explicitly an accumulated map-frame window. It combines many source publications after pose registration. This fills surfaces and hides the original scan pattern. The external K1 stream is also already a post-LIO/modeling product and lacks the raw driver fields needed to reconstruct an original scan.

Livox sensors additionally use a scan pattern that differs from classic fixed vertical channels. Time integration therefore changes their visual density in a different way. “Ring-like” is a sensor geometry property, not a universal quality target.

Canonical processing profiles

P0 — native evidence

Required:

source ID and immutable frame ID;
XYZ and the original return/remission/intensity field;
semantic and instance labels when present;
calibration/mounting/timing evidence as separate metadata;
no accumulation and no hidden world transform.

Output: native-scan.

P1 — normalized perception scan

Ordered operations:

decode and apply only evidenced factory calibration;
assign an explicit sensor coordinate frame;
deskew when per-point time and synchronized motion are available;
apply bounded range and field-of-view policy;
remove the vehicle/self mask;
apply named outlier and voxel policies;
retain a reversible index/provenance map to the native frame.

Output: normalized-scan.

P2 — inference

Ground, semantic and object providers consume P1. Patchwork++ belongs here. It does not own P0/P1 or P3.

Output: point-aligned predictions and reproducible metrics against labels.

P3 — rolling local map

Ordered operations:

bind each normalized scan to an evidenced pose;
transform to odom or a declared local-map frame;
deduplicate with a named voxel policy;
expire points by TTL or travelled distance;
keep dynamic points short-lived or track them separately;
publish bounded map state and its contributing frame identities.

Output: rolling-local-map.

This is the stage that should stop static geometry from “jumping”. Deskew reduces within-scan motion distortion; registration stabilizes scans across time; TTL/dynamic filtering prevents stale ghosts.

First dataset sequence

[Done] Admit /mnt/d/NDC_MISSIONCORE/datasets on the Windows/WSL worker.
[Done] Verify free space and record archive size/hash/license.
[Done] Download only the GOOSE 3D validation archive first (published size 3.3 GB).
[Done] Import one labeled frame and expose it in React as native-scan.
[Done] Show native remission, the original semantic palette and ground-truth superclass coloring.
Add a declared GOOSE frame/mounting profile and produce normalized-scan.
[Current baseline done; Patchwork++ blocked on mounting evidence] Run the current ground heuristic and Patchwork++ against independent labels.
Add sensor-degradation profiles for range, FOV, density, noise and dropout.
Only after the one-frame contract passes, expand to the validation split and add a rolling-map sequence with localization evidence.

Acceptance checklist

Representations cannot be silently interchanged.
Large artifacts require operator-admitted D-only storage.
GOOSE XYZI and labels remain point aligned.
Invalid length and non-finite frames fail closed.
K1 mapped increments cannot claim raw-scan fields.
React exposes an honest catalog/empty state before dataset bytes exist.
Dataset Gateway is isolated from real-sensor diagnostics and placed under Polygon qualification.
Worker D root configured.
GOOSE validation archive hash recorded.
First real labeled frame visible in React.
Coordinate and mounting profile admitted.
Current local-percentile baseline measured against ground truth.
Patchwork++ accuracy measured against ground truth.
Sensor-degradation matrix qualified.
Rolling local map with pose/TTL/dynamic policy qualified.

First GOOSE admission evidence

worker root: canonical D-only root, path never exposed by the HTTP API;
source URL: https://goose-dataset.de/storage/goose_3d_val.zip;
observed archive bytes: 3,498,402,435;
observed SHA-256: 0be9e0f8459bafcbc92ff7c3cc366e9b4e2f6e1e9bdf50e6439e1557e864c26f;
archive integrity: ZIP structure, bounded expansion, safe paths, one LICENSE, one label mapping and aligned point/label frames;
license artifact: Creative Commons Attribution-ShareAlike 4.0 International;
first deterministic frame: 2022-07-22_flight__0071_1658494234334310308;
source points: 169,883;
semantic classes present: 17;
independently labeled artificial/natural ground: 45,968 points (27.0586%);
browser preview: deterministic even-index sample of 50,000 points, visualization-only.

GOOSE does not publish a checksum beside this download. The recorded SHA-256 is therefore Mission Core's observed content pin after a TLS download, not a claim of vendor-signed authenticity. Any future byte change creates a new admission decision rather than silently replacing this installation.

First independent ground result

The current missioncore-local-percentile-ground/v1 provider was run against all 169,883 points, excluding 353 GOOSE void points from scoring:

Ground IoU: 49.6165%;
precision: 73.5892%;
recall: 60.3659%;
F1: 66.3249%;
artificial-ground recall: 95.2364%;
natural-ground recall: 49.4516%;
obstacle non-ground recall: 79.6145%;
provider latency on the worker: 3,858.16 ms.

This is the first concrete product value from the public dataset. The current heuristic looks plausible on a dense map and is strong on artificial ground, but it misses about half of the independently labeled natural ground and is far from a real-time full-scan provider. The UI exposes Current and Ошибки views, so the failure geometry is inspectable instead of being hidden behind one aggregate score.

The provider now uses a bounded grid-neighborhood index while preserving the previous exact-radius result. This removes the previous all-points scan for every occupied cell, but the measured latency still classifies it as a diagnostic baseline rather than an onboard candidate.

Patchwork++ is intentionally not scored yet. The validation ZIP contains XYZI, labels, mapping, LICENSE and CHANGELOG but no numeric TF/mounting calibration. GOOSE documents the VLS-128 as a roof LiDAR and publishes a separate MuCAR-3 TF tree, but the graph image alone is not physical-height evidence. The next gate is to admit the numeric transform from base_link_ground to sensor/lidar/vls128_roof, declare the source axis convention, and only then run Patchwork++.

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