Эксперимент: Constructive Two-View Gauge Initialization (#824)

{ "worked": true, "confidence": 9, "verdict": "Built a NumPy/SciPy constructive two-view gauge initializer and verified it numerically. Noiseless recovery was essentially exact, with position error 1.3e-15 and yaw error 4.4e-16. Under independent measurement noise, yaw RMSE followed the predicted inverse-displacement law with fitted log-log slope -1.007; near zero displacement, yaw became unidentifiable. The initializer also reduced median refinement evaluations from 9 to 5, although final residuals were unchanged.", "metrics": { "baseline": "Random gauge refinement: median residual 0.009597, median 9 function evaluations, median target error 0.01999.", "idea": "Constructive initializer: median residual 0.009597, median 5 function evaluations, target error 0.01492; noiseless position/yaw errors 1.3e-15/4.4e-16; noisy yaw slope -1.007 versus predicted -1." }, "how_to_run": "/home/maxwelhelp/main/bin/python3 two_view_experiment.py", "files": [ "two_view_experiment.py", "results.json" ], "limitations": "Tested only a tiny synthetic planar localization problem with equal weighting and SciPy refinement, not a neural encoder, recurrent filter, EKF, robust weighting, covariance weighting, or real sensor data. The singular sweep demonstrated loss of identifiability but did not estimate a formal condition-number threshold." }