Telschow · Oct 12, 2026 · Oct 11, 2026 · Oct 12, 2026 · Oct 12, 2026 · Oct 12, 2026
@@ -128,6 +128,14 @@ this project uses [semantic versioning](https://semver.org/).
   One sequence and one window. [ADR-0023](docs/adr/0023-clone-against-a-measured-front-end.md) is accepted: the clone
   stays opt-in, with the inflation.
 
+- A wider real-front-end measurement ([`docs/real_front_end.md`](docs/real_front_end.md)): six windows of five Machine
+  Hall sequences, the design committed before the run, the measured errors of each window replayed into the stochastic
+  clone. At the measured noise the clone meets the gate in two of six windows, at four times in all six, and the single
+  anchor in none. The first window was also run again with the run aligned to its frames (the earlier run began 1.08 s
+  after them, so the last second had no vision), which moved its figures slightly. `navkit euroc vo --wide` runs it.
+  [ADR-0024](docs/adr/0024-assumed-noise-for-the-opt-in-clone.md) is proposed; the decision section is for the
+  maintainer to write.
+
 ### Changed
 
 - The implementation plan carries the same point-in-time banner as the other baseline records. P5-09 and P5-12 are

@@ -4,9 +4,9 @@ Invariants this project holds itself to. Every entry is either currently true
 or is a stated blocker; nothing here is aspirational. Ratchets are measured,
 not estimated, and the command to re-measure each one is given.
 
-Last measured: <!-- metric:tests_collected -->1302<!-- /metric --> tests collected, all of which pass except the deliberate
+Last measured: <!-- metric:tests_collected -->1313<!-- /metric --> tests collected, all of which pass except the deliberate
 xfails and the skips that `pytest -rs` lists, and <!-- metric:coverage_percent -->94.3<!-- /metric -->%
-line coverage (<!-- metric:coverage_lines_hit -->9819<!-- /metric -->/<!-- metric:coverage_lines_total -->10408<!-- /metric --> executable lines) on **CPython <!-- metric:coverage_python -->3.13<!-- /metric -->**, measured
+line coverage (<!-- metric:coverage_lines_hit -->10009<!-- /metric -->/<!-- metric:coverage_lines_total -->10614<!-- /metric --> executable lines) on **CPython <!-- metric:coverage_python -->3.13<!-- /metric -->**, measured
 with `python scripts/coverage_report.py`. The figures come from `docs/data/metrics.json`, which `scripts/metrics.py` checks in CI. Coverage is quoted from that script alone:
 it is the project's dependency-free tracer (S1 forbids adding `pytest-cov`), and
 a number taken from a different tool is not comparable with the module figures
@@ -83,7 +83,7 @@ These are floors, not goals. Each must not regress; raising one is welcome.
 
 | Ratchet | Floor | Current (CPython 3.13) | Re-measure with |
 |---|---:|---:|---|
-| Tests collected | 405 | <!-- metric:tests_collected -->1302<!-- /metric --> | `pytest`, `scripts/metrics.py --check` |
+| Tests collected | 405 | <!-- metric:tests_collected -->1313<!-- /metric --> | `pytest`, `scripts/metrics.py --check` |
 | Tests passing | 300 | all collected, except the deliberate xfails and the listed skips | `pytest -rs` |
 | Line coverage | 75% | <!-- metric:coverage_percent -->94.3<!-- /metric -->% | `scripts/coverage_report.py`, `scripts/metrics.py --check-coverage` |
 | `io/trajectory.py` coverage | 85% | 95.0% | as above |
@@ -104,7 +104,7 @@ These are floors, not goals. Each must not regress; raising one is welcome.
 | `outage_sweep.py` coverage | 80% | 98.4% | as above |
 | `fdir/nis_monitor.py` coverage | 80% | 98.8% | as above |
 | `degrade/` coverage | 50% | 78.0% (`config.py`) / 84.2% (`inject.py`) | as above |
-| Docs | README + architecture + calibration + every ADR | <!-- metric:adr_count -->23<!-- /metric --> ADRs, all in the index | `scripts/metrics.py --check` |
+| Docs | README + architecture + calibration + every ADR | <!-- metric:adr_count -->24<!-- /metric --> ADRs, all in the index | `scripts/metrics.py --check` |
 | Documented tables match the generated benchmark | exact | yes | `scripts/check_doc_tables.py` |
 | Open blockers documented | all | see ROADMAP | manual |
 

@@ -70,7 +70,7 @@ mypy src --ignore-missing-imports
 `ruff format src tests scripts` applies formatting; the `--check` form is the
 gate.
 
-The suite collects <!-- metric:tests_collected -->1302<!-- /metric --> tests and all of them pass on a fresh clone, except the deliberate
+The suite collects <!-- metric:tests_collected -->1313<!-- /metric --> tests and all of them pass on a fresh clone, except the deliberate
 xfails and the skips. `pytest -rs` lists the skips: two need TUM VI reference data that is not
 vendored (see below), and the doc-table check runs once `python scripts/run_benchmark.py` has
 written `results/benchmark.json`. The count and the other numbers the docs quote are in

@@ -4,7 +4,7 @@ Sequenced by dependency, not by ambition. Each item names its exit test.
 Status markers: `[x]` done, `[~]` in progress, `[ ]` not started, `[!]`
 blocked.
 
-Measured baseline: <!-- metric:tests_collected -->1302<!-- /metric --> tests collected and <!-- metric:coverage_percent -->94.3<!-- /metric -->% line coverage on CPython
+Measured baseline: <!-- metric:tests_collected -->1313<!-- /metric --> tests collected and <!-- metric:coverage_percent -->94.3<!-- /metric -->% line coverage on CPython
 <!-- metric:coverage_python -->3.13<!-- /metric --> (`docs/data/metrics.json`, from `scripts/metrics.py` and `scripts/coverage_report.py`). Every
 number below re-measures against that, not against a remembered value.
 
@@ -260,9 +260,11 @@ this removes it.
 - [~] A visual front end with correlated errors, scale ambiguity and outliers.
       Outliers and scale drift are survived. Correlated errors are not, unless the
       assumed visual noise is inflated by a factor found by trial. A plain two-view front end was
-      then measured on real frames ([real front end](docs/real_front_end.md), ADR-0023): its errors are
-      correlated for about 0.25 s, and when they are replayed the clone stays inside the gate only with the assumed
-      noise inflated by four. One sequence and one window, so the default does not change.
+      then measured on real frames ([real front end](docs/real_front_end.md); [ADR-0023](docs/adr/0023-clone-against-a-measured-front-end.md) and
+      [ADR-0024](docs/adr/0024-assumed-noise-for-the-opt-in-clone.md), the second proposed): its
+      errors are correlated for 0.05 s to 0.5 s, and when they are replayed the clone stays inside the gate in all six
+      windows of five Machine Hall sequences only with the assumed noise inflated by four. One dataset and one
+      front end, so the default does not change.
 
 **Exit test:** NEES below 10 with vision enabled and GNSS denied, coverage above
 90%, `vision_enabled = True` as the shipped default. Current value 286.2 for the

@@ -30,3 +30,5 @@ configuration. The next step is more sequences and windows, so that the replay r
 The finding is limited to this front end, this window and a known translation scale. The factor of four is a trial
 value that held in one replay, not a derived constant. A front end with another error structure may need another
 factor.
+
+Update: the wider measurement ran, and its result is in [ADR-0024](0024-assumed-noise-for-the-opt-in-clone.md).
@@ -0,0 +1,35 @@
+# ADR-0024: The assumed visual noise of the opt-in clone
+
+- Status: proposed
+- Date: 2026-10
+- Related: [ADR-0017](0017-stochastic-clone-for-the-visual-update.md), [ADR-0023](0023-clone-against-a-measured-front-end.md), [real front end](../real_front_end.md)
+
+## Context
+
+ADR-0023 kept the stochastic clone opt-in and asked for more windows and sequences before anything changed. The wider
+measurement ran: six windows of five Machine Hall sequences, a plain two-view front end, the measured errors of each
+window replayed into the filter. With the assumed visual noise at the measured size, the clone meets the gate (NEES below
+10, 2-sigma coverage above 90%) in two of six windows. At twice the measured size, in two of six. At four times, in all
+six. At eight times, in all six. The single anchor meets it in none. The tightest window at four times has a coverage of
+91%.
+
+All of it is one dataset, one front end that is not a production one, and a translation with the true scale.
+
+## Options
+
+1. **Keep the clone opt-in and record four times as the supported assumption.** `vision_enabled` stays False. The docs
+   say that an opt-in user of a feature-tracking front end should assume four times the measured visual noise, and that
+   this holds on the windows measured so far.
+2. **Add the factor to the configuration as a named setting.** A documented preset so that the opt-in path does not
+   depend on a number found in a page. Code and docs change; the default does not.
+3. **Make the clone the default with four times the noise.** It needs a monocular scale, a second dataset and a front end
+   that is not mine first.
+
+## Decision
+
+To be written by the maintainer.
+
+## Consequences
+
+Whatever is chosen, the claim stays limited to the Machine Hall windows measured, this front end and a known scale. The
+factor of four is an empirical value, not a derived constant.
@@ -28,3 +28,4 @@ what it cost, and what was rejected.
 | [ADR-0021](0021-fault-classification-from-innovations.md) | Fault classification from the GNSS innovations | accepted |
 | [ADR-0022](0022-multipath-signature.md) | A multipath signature on the GNSS innovations | accepted |
 | [ADR-0023](0023-clone-against-a-measured-front-end.md) | The clone against a measured front end | accepted |
+| [ADR-0024](0024-assumed-noise-for-the-opt-in-clone.md) | The assumed visual noise of the opt-in clone | proposed |
@@ -1,8 +1,8 @@
 {
-  "adr_count": 23,
-  "coverage_lines_hit": 9819,
-  "coverage_lines_total": 10408,
-  "coverage_percent": 94.34,
+  "adr_count": 24,
+  "coverage_lines_hit": 10009,
+  "coverage_lines_total": 10614,
+  "coverage_percent": 94.3,
   "coverage_python": "3.13",
-  "tests_collected": 1302
+  "tests_collected": 1313
 }
@@ -24,18 +24,18 @@ IMU only,4,1.479515039799907,1.0,64.33376427977204,64.33376427977204,48.22398143
 "clone, measured correlation, noise assumed x4",2,1.1598820006352226,1.0,0.3853541069446335,1.0644072764533532,0.6663882330282552
 "clone, measured correlation, noise assumed x4",3,1.3663597214021872,1.0,0.8468382431054775,1.8443749062870949,0.6770825779385757
 "clone, measured correlation, noise assumed x4",4,0.9313382116502497,1.0,0.3461272565693066,0.8911346077089927,0.6696683908514616
-"replay, anchor",0,162853.3177202277,0.045,238.5619630685604,238.5619630685604,0.2738550680289662
-"replay, anchor",1,3902.892646131298,0.22133333333333333,40.40266180548525,40.40266180548525,0.27385520648124717
-"replay, anchor",2,191652.38118501462,0.0375,259.8637367849311,259.8637367849311,0.2738551681094766
-"replay, anchor",3,23497.854123016754,0.05,93.63839724696794,93.63839724696794,0.27385521817424435
-"replay, anchor",4,15496.151456115414,0.09766666666666667,66.38652929287211,66.38652929287211,0.2738550878280069
-"replay, clone",0,34.587376134194805,0.378,0.4410105430927355,2.0679822624887816,0.2736007756934708
-"replay, clone",1,26.97402561069759,0.5571666666666667,0.3076255905617748,2.0177121447026427,0.27360843161141396
-"replay, clone",2,30.985558012009587,0.535,0.24979233572188436,2.124069403692931,0.2736292940411207
-"replay, clone",3,26.427569590150807,0.568,0.1168379946950831,1.9991510229137401,0.27359348189691307
-"replay, clone",4,23.426648244921132,0.5501666666666667,0.05654685195852756,1.8729005865056703,0.27360567393794893
-"replay, clone, noise assumed x4",0,4.967967593940472,0.895,0.2982003603348016,2.315065365306037,0.6728826925288418
-"replay, clone, noise assumed x4",1,4.699123780634335,0.8981666666666667,0.8655240935112204,2.315638468206952,0.6703569638405952
-"replay, clone, noise assumed x4",2,4.305557510468603,0.9071666666666667,0.7537660844255686,2.3080299325352716,0.6682262200970166
-"replay, clone, noise assumed x4",3,3.9705814909040975,0.9166666666666666,0.7721493615124901,2.208643976825519,0.6729112733384796
-"replay, clone, noise assumed x4",4,3.393820812165554,0.9923333333333333,0.6021227381077545,2.1003063486798905,0.6691948130013253
+"replay, anchor",0,116531.45162424895,0.05515747375437427,188.16518312586584,188.16518312586584,0.27151730613749975
+"replay, anchor",1,6256.248351268813,0.21179803366105648,45.44315739524699,45.44315739524699,0.27151758056193304
+"replay, anchor",2,139207.26769054652,0.04849191801366439,204.36024455280514,204.36024455280514,0.27237845096024843
+"replay, anchor",3,16102.044859582255,0.058656890518246955,72.40350579411398,72.40350579411398,0.27151768414633365
+"replay, anchor",4,2871.7391727054774,0.13031161473087818,28.4397065807435,28.4397065807435,0.2715174671175912
+"replay, clone",0,36.078571492441505,0.3741043159473421,0.5322040312592278,2.131259598338551,0.2736847909936279
+"replay, clone",1,27.191822359381977,0.5484085985669055,0.40274847834356925,2.0281016058614076,0.2736925558371559
+"replay, clone",2,30.986753783465435,0.5327445425762373,0.24973690931341544,2.128940397469289,0.2737154885043541
+"replay, clone",3,27.092290386059318,0.5655724045992334,0.19095256792112186,2.0262522423217586,0.27366704758011784
+"replay, clone",4,24.83966107677349,0.5424095984002666,0.23403105288862897,1.9248198071294806,0.27368766644561277
+"replay, clone, noise assumed x4",0,4.977135696293209,0.8950174970838194,0.4142387267865148,2.381071400000901,0.6662037845719603
+"replay, clone, noise assumed x4",1,4.435673577277113,0.9150141643059491,0.7398779535557101,2.2975612749742296,0.6644617442506766
+"replay, clone, noise assumed x4",2,4.075097865891809,0.9166805532411265,0.6923764484038278,2.2960069179343803,0.6633675135651395
+"replay, clone, noise assumed x4",3,3.8730539801078536,0.9346775537410431,0.4781507195930287,2.214863977962591,0.666187616840367
+"replay, clone, noise assumed x4",4,3.5801741639212428,0.9761706382269622,0.6357296692568984,2.1714827797725076,0.6636345605641294