59 lines
2.8 KiB
Markdown
59 lines
2.8 KiB
Markdown
# 06 — Structure detection (R12 arc, 3 ticks)
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Detecting "something new in the room" — new furniture, intruder, fallen person. Three-tick arc: R12 NEGATIVE → R12 PABS POSITIVE → R12.1 closed loop.
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## Scripts (in arc order)
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| Script | Thread | Headline | State |
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|---|---|---|---|
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| `r12_rf_weather_eigenshift.py` | R12 | Naive SVD-spectrum cosine distance: **0.69× signal/drift = undetectable**. Fails because eigenshift is indistinguishable from natural drift. | **NEGATIVE (missing-tool)** |
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| `r12_pabs_implementation.py` | R12 PABS | Physics-Anchored Background Subtraction: **1,161× signal/drift** for unexpected occupant. ~100× lift over R12 NEGATIVE. Achieved by composing R6.1 forward operator as the PABS basis. | **POSITIVE** |
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| `r12_1_pose_pabs_loop.py` | R12.1 | Pose-aware closed loop: **9.36× intruder detection in dynamic scenes** (false-alarm problem from R12 PABS resolved). Pose updates suppress subject-motion contribution 20×. | **CLOSED LOOP** |
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## The arc summary
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R12 (tick 5) → R12 PABS (tick 19) → R12.1 (tick 29): failure → success with caveat → success without caveat.
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The arc validates the **research-loop pattern**: catalogue NEGATIVE results explicitly, then revisit them when better tools arrive. R6.1 multi-scatterer (tick 18) provided the tool that R12 was missing in tick 5.
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## How PABS works (R12 PABS implementation)
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```
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y_predicted = sum over voxels of A(voxel) × reflectivity(voxel)
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where A is the R6.1 forward operator
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PABS = ||y_observed − y_predicted||² / ||y_observed||²
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If PABS > threshold:
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structural change detected (new scatterer in scene)
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```
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## How the closed loop works (R12.1)
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```
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At each frame:
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pose_estimate = pose_tracker.estimate(csi_window) // ADR-079 / ADR-101
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expected_scene = body_model.from_pose(pose) + walls
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y_predicted = R6.1.forward(expected_scene)
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PABS = ||y_observed − y_predicted||² / ||y_observed||²
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if PABS > threshold:
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emit_structure_event()
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```
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Subject motion is **absorbed** into the prediction; only unexplained residuals trigger structure events. This is the V0 security feature in R14 + R16/R17/R18 verticals.
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## Composition with other folders
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- `01-physics-floor/r6_1_multiscatterer.py` provides the A(voxel) forward operator
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- `03-spatial-intelligence/r7_multilink_consistency.py` provides per-link adversarial check
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- `09-quantum-fusion/r20_1_quantum_classical_fusion.py` composes structure detection with NV-magnetometer fusion
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## Production status (per `PRODUCTION-ROADMAP.md`)
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- Tier 1.2: R12.1 pose-PABS in `vital_signs` cog (~80 LOC Rust)
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- Tier 3.4: Standalone `cog-fall-detection` (~200 LOC)
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## See also
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- Research notes: `docs/research/sota-2026-05-22/R12-*.md`, `R12_1-*.md`
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- ADRs: ADR-079 (pose tracker), ADR-101 (cog-pose-estimation), ADR-029 (multistatic)
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