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Ravenwater merged 1 commit into from
Jun 19, 2026
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docs(pipeline): record the completed real-data inspector epic (#371) #421

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12 changes: 12 additions & 0 deletions docs-site/src/content/docs/pipeline/engineering-status.mdx
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Expand Up @@ -63,13 +63,25 @@ distilled into the eleven staged contracts (S0–S10) of this section, each with
`tools/` and a probe header under `sdk/eval/`. The consistency instrument itself
(NEES/NIS/whiteness) is the always-on half.

Alongside the synthetic probes (the CI gate, known ground truth), each implemented
stage now also has a **real-data inspector** (epic <Issue id={371} />, complete):
it re-runs the *shipped* stage operator on a real EuRoC sequence and renders the
result across three tiers — image-domain SVG overlays (`gen-overlay.mjs`), the 3-D
landmark/covariance viewer (`scene3d.js`), and filter-internal covariance / NIS /
convergence figures (`gen-*-figures.mjs`). Built for every stage whose operator
exists in the filter — **S0, S4** (image), **S5** (3-D), and **S6, S1, S2, S3, S9,
S10** (filter-internal). The two not built, **S7** (persistent SLAM features) and
**S8** (zero-velocity / ZUPT), are optional layers not present in the cortex filter
and become buildable only once those subsystems are added.

## Tracking index

| Area | Issue |
|---|---|
| Over-confidence (the umbrella) | <Issue id={212} /> |
| Consistency instrument (NEES/NIS) | <Issue id={264} /> |
| Diagnostic-instrumentation epic | <Issue id={261} /> |
| Real-data stage inspectors (epic — complete) | <Issue id={371} /> |
| Stream characterization (Allan → Q) | <Issue id={268} /> |
| Dynamic init on real EuRoC | <Issue id={211} />, <Issue id={247} /> |

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