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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 published, dimensioned MuCAR-3/VLS-128 Patchwork++ input profile: sensor frame x-forward / y-left / z-up, physical height 2.24 m, native one-revolution scan and explicit absence of deskew/full vehicle TF claims;
a reproducible Current/Patchwork++ A/B artifact with point-aligned masks, disagreement views, independent-label metrics, latency and exact provider identities;
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.
[Patchwork-specific profile done; general normalization still pending] Admit the published VLS-128 axes and physical height without claiming a complete numeric vehicle TF or deskewed normalized-scan.
[One-frame A/B done] Run the current ground heuristic and pinned Patchwork++ against the same native scan and independent labels.
[Done] Add deterministic sensor-degradation profiles for range, FOV, density, noise and dropout without modifying native source frames.
[Done] Expand the A/B to all 961 validation frames and seal the result as a Polygon replay-shadow run. Add a rolling-map sequence with localization evidence only after this qualification boundary.

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.
Patchwork-specific axes and physical-height profile admitted.
Complete vehicle transform and general normalized-scan admitted.
Current local-percentile baseline measured against ground truth.
Patchwork++ one-frame accuracy measured against ground truth.
Current/Patchwork++ validation-split gate qualified.
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.

First Patchwork++ A/B result

GOOSE's dimensioned MuCAR-3 schematic provides the two vertical dimensions needed by this algorithm-specific gate: base_link is 0.64 m above ground and the VLS-128 optical center is 1.60 m above base_link. The admitted Patchwork++ height is therefore 2.24 m. The same published schematic declares the sensor axes as x forward, y left and z up. An independent fit to GOOSE-labeled near-field ground observed a -2.18 .. -2.14 m intercept; this was a non-calibrating cross-check, not the source of the height.

This narrowly admits the input required by Patchwork++ on the native sensor-centric scan. It does not claim a complete numeric vehicle transform, per-point timing, deskew or a general normalized-scan.

Official Patchwork++ v1.4.1, source commit 3e6903a1d5537a4cc2ace897b0bbb98a92d6014c, was run against the same first frame and independent labels as Current:

Metric	Current	Patchwork++
Ground IoU	`49.6165%`	`60.3702%`
Precision	`73.5892%`	`72.6612%`
Recall	`60.3659%`	`78.1130%`
F1	`66.3249%`	`75.2886%`
Artificial-ground recall	`95.2364%`	`98.9688%`
Natural-ground recall	`49.4516%`	`71.5853%`
Obstacle non-ground recall	`79.6145%`	`92.1729%`
Worker latency	`3966.53 ms`	`15.89 ms`

Reproducibility pins:

benchmark identity: 2a6d05f54a9e2ac727d9c850c1133f2fb539bfeddbd97c07cfd198ccb239162c;
full point-aligned prediction SHA-256: 190f455c6e47911921b7f6454913e1bb2d0b8b5814ee2e34d7b63295afddc7ef;
bounded browser preview SHA-256: e23ca573103faf931523415e6c263248737eb6600f482b63de685b725bbc28c3;
Patchwork++ binary SHA-256: be8038b2098c83fe53841aa8ae19e362910e9056fe0ee7b9304c1ee5c5941094.

Patchwork++ wins this frame by 10.75 percentage points of Ground IoU, raises natural-ground recall by 22.13 points and is roughly 250x faster in this run. The result is deliberately one-frame-diagnostic: it makes Patchwork++ the candidate for validation-split and degradation qualification, not an accepted navigation or safety provider.

Validation-split qualification

The immutable R1 replay-shadow run goose-ground-035de3ae6155844b636d processed all 961 aligned validation frames directly from the D-only archive. It is bound to Mission Core commit d6decbe05ccecd32d6a745767ee7a795bd1c88b1, qualification identity 035de3ae6155844b636d89d8f23b36e561edab105720fa850094a5c6f680c0ef and the same pinned Patchwork++ source/binary as the one-frame diagnostic.

Validation micro metric	Current	Patchwork++
Ground IoU	`47.4199%`	`66.3974%`
Natural-ground recall	`51.7650%`	`76.2215%`
Obstacle non-ground recall	`93.5831%`	`94.6666%`
Assigned fraction	`100%`	`100%`
Latency p50	`3527.02 ms`	`16.04 ms`
Latency p95	`6115.18 ms`	`23.40 ms`
Maximum latency	`11162.62 ms`	`34.12 ms`

The predeclared nominal gates passed: Ground IoU gain is 18.98 percentage points (required >= 7), natural-ground recall gain is 24.46 points (required >= 10), Patchwork++ obstacle non-ground recall is 94.67% (required >= 90%), assigned fraction is 100% (required >= 99.9%) and p95 latency is 23.40 ms (required <= 50 ms). No frame exceeded the catastrophic regression boundary of -20 Ground-IoU points; the worst observed delta was -13.51 points and remains visible as a bounded failure preview.

Deterministic profile	Source coverage	Ground IoU	Natural recall	p95 latency
`range-20m`	`52.70%`	`63.1304%`	`72.1331%`	`16.29 ms`
`range-40m`	`80.03%`	`68.5958%`	`80.0635%`	`20.74 ms`
`density-50`	`50.00%`	`66.3575%`	`76.8925%`	`11.78 ms`
`density-25`	`25.00%`	`65.5975%`	`76.8987%`	`5.99 ms`
`noise-05m`	`100%`	`63.4378%`	`70.7234%`	`23.28 ms`
`dropout-30`	`70.00%`	`66.4658%`	`76.6721%`	`16.24 ms`
`front-180`	`51.48%`	`67.6924%`	`77.8012%`	`11.82 ms`

Every degradation profile stayed inside the predeclared 15-point Ground-IoU loss, 20-point natural-recall loss and 50 ms p95 limits. The sealed decision is therefore shadow-candidate, explicitly promoted_to_navigation_or_safety = false. The compact 12 MB run journal, report and five worst-frame previews are available in Polygon -> Runs; the source archive and crash-resume frame cache remain only on worker D.

Primary source evidence:

15 KiB Raw Blame History