iter-9: veille + stage06 path analysis

pipeline/iteration-log.md

@@ -137,3 +137,21 @@
   - Lancer stage06_align sur 4 PLY
   - Veille : RoPE issues arxiv, underwater 3D reconstruction papers
 - **Suggestion prochaine** : update lingbot-map .84 (git pull) OU switch mee-deepreefmap (pas ce problème)
+
+### Findings Stage06 Path
+- **stage06_align_absolute.py** exists (requires trajectory CSV + MCAP IMU/GPS, outputs ENU-aligned trajectory)
+- **stage06b_imu_depth_align.py** exists (IMU/depth post-processing)
+- **blocker** : lingbot PLY output → poses CSV conversion not automated ; need extract viser poses → COLMAP format OR use mee-deepreefmap (simpler pipeline)
+- **decision** : defer stage06 until trajectory extraction finalized ; prioritize lingbot-map update on .84
+
+### Veille Signal (6h window)
+- arxiv 20260513: RoPE optimization papers (rope_xformers, YaRN variants) — pertinent si update lingbot-map
+- GitHub: LingBot-Map last commit 2026-04-27 (keyframe fix 1 semaine écoulé)
+- Hugging Face: ReefMapGS v0.8 (underwater 3D specialist, arxiv 2026-05-11)
+- Decision: monitor RoPE fixes, test ReefMapGS on GX029839 (85M pts reference) vs lingbot
+
+### Suggestion prochaine
+1. ⚠️ Priority: Update lingbot-map on .84/.87 (git pull + rebuild venv) — RoPE + keyframe fixes 2026-04-27
+2. Retry GX019817 après update
+3. Start stage06_align preparation (pose extraction pipeline)
+4. Test ReefMapGS on known-good segment (GX029839 85M pts)