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anima_module.yaml

@@ -2,58 +2,57 @@ schema_version: "1.0"
 
 module:
   name: heimdall
-  version: "0.1.0"
-  display_name: "HEIMDALL — PROFusion Dense Reconstruction SLAM"
-  description: "Robust dense 3D reconstruction via camera pose regression and optimization using PROFusion"
-  category: perception.slam
+  version: 1.0.0
+  display_name: "HEIMDALL — AUDRON Acoustic Drone Detection and Classification"
+  description: >
+    Deep learning framework with fused acoustic signatures for drone type
+    recognition. Binary detection and multi-class drone classification from
+    MEMS microphone array audio streams.
+  category: perception.acoustic
   license: Apache-2.0
-  paper: "PROFusion: Robust and Accurate Dense Reconstruction via Camera Pose Regression and Optimization (Sep 2025)"
+  paper: "https://arxiv.org/abs/2512.20407"
 
 capabilities:
   provides:
-    - type: slam
-      subtype: dense_reconstruction
-    - type: pose_estimation
-      subtype: camera_regression
+    - type: detection
+      subtype: acoustic_drone
+    - type: classification
+      subtype: drone_type
 
 interface:
   inputs:
-    - name: rgb_image
-      ros2_type: sensor_msgs/msg/Image
-    - name: depth_image
-      ros2_type: sensor_msgs/msg/Image
+    - name: audio_stream
+      ros2_type: std_msgs/msg/Float32MultiArray
   outputs:
-    - name: pose
-      ros2_type: geometry_msgs/msg/PoseStamped
-    - name: dense_map
-      ros2_type: sensor_msgs/msg/PointCloud2
+    - name: detection_event
+      ros2_type: std_msgs/msg/String
+    - name: health_status
+      ros2_type: std_msgs/msg/String
 
 hardware:
   platforms:
     - name: linux_x86
       backends: [onnxruntime_cuda, onnxruntime_cpu]
-    - name: nvidia_jetson
-      backends: [tensorrt, onnxruntime_cuda]
+    - name: linux_arm64
+      backends: [onnxruntime_cpu]
 
 performance:
   profiles:
     - platform: linux_x86
-      model: heimdall-base
-      backend: onnxruntime_cuda
-      fps: 10
-      latency_p50_ms: 80
+      model: heimdall-audron
+      backend: onnxruntime_cpu
+      fps: 48
+      latency_p50_ms: 100
 
 safety:
   failure_mode: returns_empty
-  timeout_ms: 1000
+  timeout_ms: 100
   health_topic: /anima/heimdall/health
 
 composability:
-  pairs_well_with:
-    - perception.depth_estimation
-    - perception.point_cloud
+  pairs_well_with: []
   conflicts_with: []
 
 container:
-  image: ghcr.io/robotflow-labs/anima-heimdall:0.1.0
-  port: 8091
+  image: ghcr.io/robotflow-labs/anima-heimdall:1.0.0
+  port: 8080