Navigation Techniques
A NavTechnique consumes a subset of the per-image
NavFeature set plus a per-image
NavContext and produces one
NavTechniqueResult carrying a calibrated
translation offset, a 2x2 (or 3x3 with rotation) covariance, a calibrated [0, 1] confidence,
and a typed diagnostics dataclass. The orchestrator’s ensemble combine reconciles every
technique’s result into a single NavContext outcome.
Concrete subclasses self-register via __init_subclass__ and are discovered by the
orchestrator through NavTechnique._registry. Each
technique declares its accepted feature types, whether it requires a pass-1 prior, and the
attribute set its confidence formula may read. Per-technique tunables and confidence-formula
coefficients live in techniques.<TechniqueName> in
src/nav/config_files/config_510_techniques.yaml.
Two cross-cutting kinds of pages live under this section:
Per-technique pages — one page per concrete
NavTechniquesubclass, documenting the technique’s theory, configuration, implementation, and worked examples.Shared-infrastructure pages — one page per shared algorithmic component reused across techniques (DT fitting, image-side derivatives, confidence calibration, feasibility reporting, per-technique diagnostics dataclasses).
Per-technique pages cross-reference the shared-infrastructure pages instead of duplicating their content.
Shared infrastructure
- DT Fitting (Shared Polyline-vs-Image Fitter)
- Overview
- Theory
- Stage 1 — coarse integer cross-correlation
- Stage 2 — sub-pixel Levenberg-Marquardt refinement
- Stage 3 — optional continuous gradient-ridge refinement
- Polarity filtering
- Robustness via Tukey biweight
- From cost surface to information matrix
- Pseudoinverse to covariance
- Combining with a prior in the ensemble
- Restrictions and assumptions
- Sources of uncertainty
- Configuration
- Implementation
- Examples
- Image Derivatives (Shared Gradient and Edge DT)
- Confidence Calibration (Shared Sigmoid-of-Linear Combination)
- Feasibility Reporting (Shared NavFeasibilityReport)
- Per-Technique Diagnostics (Shared Dataclass Family)
Star techniques
Body techniques
Ring techniques
Titan techniques
No Titan-specific autonomous techniques are registered.
NavModelTitan is a registered
placeholder that emits no features, so the technique pipeline runs
without any Titan-derived contribution; the slot is reserved for a
haze-aware extractor (see Titan).