These documents are published at https://branes-ai.github.io/cortex/. The site is generated from this folder by docs-kit on every merge to main: edit the documents here, never the site. index.mdx is the landing page, and this file is the map: one row per sidebar group, in order. The pages with components are MDX, and import them from docs-site/src/ through @site/.
| Folder | Contents |
|---|
| getting-started/ | Introduction, Build & Run, Repository Layout |
| architecture/ | Architecture Overview & Topology, Layering Invariants, The KPU Spacetime Constraint, Resource Manager (Rust) |
| math/ | Math Layer Overview, Non-linear Least Squares, Lie Groups (SO3 / SE3 / Sim3), Camera Models, Math layer concepts reference |
| vio/ | Visual-Inertial Odometry Overview, Visual Front End, IMU Preintegration & Initialization, MSCKF State Machinery, Camera Updaters, MSCKF Backend, VioEstimator API, 3D Path & Pose Viewer |
| pipeline/ | The VIO Pipeline Overview, Running the VIO Pipeline Demo, Reading the Metrics, Diagnostic Methodology, The Canonical VIO Pipeline, S0 — Sensor & Calibration Models, S1 — Initialization, S2 — IMU Propagation, S3 — State Augmentation, S4 — Visual Frontend, S5 — Feature Triangulation, S6 — MSCKF Update, S7 — SLAM-Feature Update (optional), S8 — Zero-Velocity Update (optional), S9 — Marginalization, S10 — Online Calibration, Consistency Analysis, Engineering Status |
| debugging/ | Divide-and-Conquer VIO Debugging, Stages as Transformations, Invariants — the Oracle, Stage Benches, Capture & Composition, Mixed Precision on MTL5, Keeping the Covariance Physically Feasible, Numerical Thresholds Across Arithmetic Types, Worked Example: Finding #461 |
| first-principles/ | VIO from First Principles: Failure Modes and the Regression Suite, The Storyline, Diagnostic Signatures and Pitfalls, The VIO Regression Suite |
| methodology/ | From a Paper to a Transformation Graph, The Pipeline Spec Format, OpenVINS MSCKF: the transformation graph, Right-Invariant MSCKF: the transformation graph, EuRoC Consistency Gate: the transformation graph |
| benchmarks/ | Trajectory Accuracy (ATE / RPE), Latency Budget, Intelligence per Watt (vio_bench), Coverage & CI Gates |
| algorithms/ | Clean-room Citations & Provenance |
| phases/ | Roadmap, Phase 0 — Foundation, Phase 1 — Rust Resource Manager + cxx Bridge, Phase 2 — Math Layer, Phase 3 — Visual-Inertial Odometry |
| meta/ | Documentation Process |