diff --git a/controller/src/controller/uuid_manager.py b/controller/src/controller/uuid_manager.py
index 9ab61caa22..f2f7724ac5 100644
--- a/controller/src/controller/uuid_manager.py
+++ b/controller/src/controller/uuid_manager.py
@@ -285,13 +285,14 @@ def assignID(self, sscape_object):
         self.active_ids.setdefault(sscape_object.rv_id, [None, None])
       self.gatherQualityVisualFeatures(sscape_object)
       self.pickBestID(sscape_object)
-      if self.haveSufficientVisualFeatures(sscape_object) and self.reid_enabled:
-        # Only do the query for similarity if it hasn't been run before
-        if sscape_object.rv_id not in self.active_query:
-          self.active_query[sscape_object.rv_id] = True
-          self.pool.submit(self.querySimilarity, sscape_object)
+      if self.reid_enabled:
+        if self.haveSufficientVisualFeatures(sscape_object):
+          # Only do the query for similarity if it hasn't been run before
+          if sscape_object.rv_id not in self.active_query:
+            self.active_query[sscape_object.rv_id] = True
+            self.pool.submit(self.querySimilarity, sscape_object)
       else:
-        # Re-ID is disabled or we don't have enough features; fall back to using the generated GID
+        # Re-ID is disabled; fall back to using the generated GID
         with self.active_ids_lock:
           if self.active_ids.get(sscape_object.rv_id, [None])[0] is None:
             self.active_ids[sscape_object.rv_id] = [sscape_object.gid, None]
diff --git a/tests/Makefile b/tests/Makefile
index f0b0efbc84..3a35a45fd8 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -233,6 +233,7 @@ _unit-tests: \
   singleton-sensor-unit \
   timestamp-unit \
   transform-unit \
+  uuid-manager-unit \
   views-unit \
 
 include Makefile.sscape Makefile.functional Makefile.perf \
diff --git a/tests/Makefile.sscape b/tests/Makefile.sscape
index ddddb4d0f6..b698a6fefa 100644
--- a/tests/Makefile.sscape
+++ b/tests/Makefile.sscape
@@ -79,5 +79,8 @@ timestamp-unit: # NEX-T10480
 transform-unit: # NEX-T10512
 	$(call unit-recipe, transform, $(IMAGE)-manager-test)
 
+uuid-manager-unit: # NEX-T19884
+	$(call unit-recipe, uuid_manager, $(IMAGE)-controller-test)
+
 views-unit: # NEX-T10479
 	$(call unit-recipe, views, $(IMAGE)-manager-test)
diff --git a/tests/sscape_tests/uuid_manager/conftest.py b/tests/sscape_tests/uuid_manager/conftest.py
new file mode 100644
index 0000000000..d73e876ed9
--- /dev/null
+++ b/tests/sscape_tests/uuid_manager/conftest.py
@@ -0,0 +1,26 @@
+# SPDX-FileCopyrightText: (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+import sys
+from unittest.mock import MagicMock
+
+import tests.common_test_utils as common
+
+TEST_NAME = "NEX-T19884"
+
+# Mock the vdms module before importing controller modules that depend on it.
+sys.modules.setdefault('vdms', MagicMock())
+
+
+def pytest_sessionstart():
+  """! Executes at the beginning of the session. """
+
+  print(f"Executing: {TEST_NAME}")
+  return
+
+
+def pytest_sessionfinish(exitstatus):
+  """! Executes at the end of the session. """
+
+  common.record_test_result(TEST_NAME, exitstatus)
+  return
diff --git a/tests/sscape_tests/uuid_manager/test_uuid_manager.py b/tests/sscape_tests/uuid_manager/test_uuid_manager.py
new file mode 100644
index 0000000000..74ebcdd943
--- /dev/null
+++ b/tests/sscape_tests/uuid_manager/test_uuid_manager.py
@@ -0,0 +1,340 @@
+# SPDX-FileCopyrightText: (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+"""Unit tests for controller.UUIDManager."""
+
+import collections
+import sys
+import threading
+from unittest.mock import MagicMock
+
+import numpy as np
+import pytest
+
+# Ensure the vdms stub is present before any controller import
+sys.modules.setdefault('vdms', MagicMock())
+
+from controller.uuid_manager import (DEFAULT_MINIMUM_FEATURE_COUNT,
+                                     UUIDManager)
+
+
+# ---------------------------------------------------------------------------
+# Helpers
+# ---------------------------------------------------------------------------
+
+def _make_uuid_manager():
+  """Create a UUIDManager with all external dependencies mocked out."""
+  um = UUIDManager.__new__(UUIDManager)
+  um.active_ids = {}
+  um.active_ids_lock = threading.Lock()
+  um.active_query = {}
+  um.features_for_database = {}
+  um.quality_features = {}
+  um.unique_id_count = 0
+  um.reid_database = MagicMock()
+  um.pool = MagicMock()
+  um.similarity_query_times = collections.deque(maxlen=10)
+  um.similarity_query_times_lock = threading.Lock()
+  um.reid_enabled = True
+  return um
+
+
+def _make_sscape_object(rv_id=1, gid='test-gid', reid_vector=None,
+                        bbox_area=10000, category='person'):
+  """Create a minimal mock Scenescape object."""
+  obj = MagicMock()
+  obj.rv_id = rv_id
+  obj.gid = gid
+  obj.reidVector = reid_vector if reid_vector is not None else np.ones((1, 256))
+  obj.boundingBoxPixels = MagicMock()
+  obj.boundingBoxPixels.area = bbox_area
+  obj.category = category
+  obj.similarity = None
+  return obj
+
+
+def _populate_features(uuid_manager, rv_id, count):
+  """Insert *count* dummy ReID vectors for *rv_id* into quality_features."""
+  uuid_manager.quality_features[rv_id] = [np.ones((1, 256)) for _ in range(count)]
+
+
+# ===========================================================================
+# PR #1155 – preserve UUID for static objects after occlusion
+# ===========================================================================
+
+class TestPruneInactiveTracks:
+  """pruneInactiveTracks must accept a *set* of tracked objects and remove
+  only the tracks whose IDs are absent from that set."""
+
+  def test_preserves_tracks_present_in_active_set(self, uuid_manager):
+    """! Tracks still present in the active set are kept in active_ids.
+
+    Verifies that a track ID found in the supplied set is NOT removed.
+    """
+    uuid_manager.active_ids = {1: ['gid-1', None], 2: ['gid-2', 0.3]}
+
+    active_obj = _make_tracked_obj(1)
+    uuid_manager.pruneInactiveTracks({active_obj})
+
+    assert 1 in uuid_manager.active_ids
+
+  def test_removes_tracks_absent_from_active_set(self, uuid_manager):
+    """! Tracks absent from the active set are removed from active_ids.
+
+    Verifies that a track ID NOT found in the supplied set IS removed.
+    """
+    uuid_manager.active_ids = {1: ['gid-1', None], 2: ['gid-2', None]}
+
+    active_obj = _make_tracked_obj(1)
+    uuid_manager.pruneInactiveTracks({active_obj})
+
+    assert 2 not in uuid_manager.active_ids
+
+  def test_accepts_set_containing_suspended_tracks(self, uuid_manager):
+    """! Passing a mixed set of reliable, unreliable, and suspended track
+    objects preserves all their IDs (mirrors the PR #1155 change that passes
+    set(reliable + unreliable + suspended) to pruneInactiveTracks).
+    """
+    uuid_manager.active_ids = {
+      10: ['gid-reliable', 0.2],
+      20: ['gid-unreliable', None],
+      30: ['gid-suspended', None],
+    }
+
+    reliable = _make_tracked_obj(10)
+    unreliable = _make_tracked_obj(20)
+    suspended = _make_tracked_obj(30)
+
+    all_active = {reliable, unreliable, suspended}
+    uuid_manager.pruneInactiveTracks(all_active)
+
+    assert 10 in uuid_manager.active_ids
+    assert 20 in uuid_manager.active_ids
+    assert 30 in uuid_manager.active_ids
+
+  def test_increments_unique_id_count_for_unmatched_tracks(self, uuid_manager):
+    """! When an inactive track has similarity==None, unique_id_count
+    is incremented because no database match was found for that object.
+    """
+    uuid_manager.active_ids = {5: ['gid-5', None]}  # similarity is None → new object
+    uuid_manager.unique_id_count = 0
+
+    uuid_manager.pruneInactiveTracks(set())  # empty → track 5 is inactive
+
+    assert uuid_manager.unique_id_count == 1
+
+  def test_does_not_increment_unique_id_count_for_matched_tracks(self, uuid_manager):
+    """! When an inactive track has a non-None similarity score, it was
+    matched to an existing database entry and unique_id_count must NOT
+    be incremented.
+    """
+    uuid_manager.active_ids = {5: ['gid-5', 12.3]}  # similarity is not None → matched
+    uuid_manager.unique_id_count = 0
+
+    uuid_manager.pruneInactiveTracks(set())
+
+    assert uuid_manager.unique_id_count == 0
+
+  def test_suspended_track_uuid_survives_occlusion(self, uuid_manager):
+    """! Simulates an object becoming occluded (moving to suspended state)
+    and reappearing.
+
+    When the object's rv_id is included in all_active_tracks (because the
+    C++ tracker keeps the suspended track alive), its GID must not be
+    removed from active_ids, so when it reappears pickBestID can restore
+    the original GID.
+    """
+    rv_id = 42
+    original_gid = 'original-gid'
+    uuid_manager.active_ids = {rv_id: [original_gid, None]}
+
+    # Object is suspended – its ID IS in the all_active set
+    suspended_track = _make_tracked_obj(rv_id)
+    uuid_manager.pruneInactiveTracks({suspended_track})
+
+    # GID must still be present
+    assert rv_id in uuid_manager.active_ids
+    assert uuid_manager.active_ids[rv_id][0] == original_gid
+
+
+# ===========================================================================
+# PR #1155 – pickBestID restores GID for reappearing static objects
+# ===========================================================================
+
+class TestPickBestID:
+  """pickBestID must restore the database GID (and similarity) from
+  active_ids onto the sscape_object when an existing mapping exists."""
+
+  def test_restores_gid_from_active_ids(self, uuid_manager, sscape_object):
+    """! When active_ids contains a non-None GID for the track, pickBestID
+    sets that GID on the object so the original identity is preserved.
+    """
+    stored_gid = 'database-uuid'
+    stored_similarity = 5.2
+    uuid_manager.active_ids[sscape_object.rv_id] = [stored_gid, stored_similarity]
+
+    uuid_manager.pickBestID(sscape_object)
+
+    assert sscape_object.gid == stored_gid
+    assert sscape_object.similarity == stored_similarity
+
+  def test_sets_similarity_none_when_no_mapping(self, uuid_manager, sscape_object):
+    """! When active_ids has no entry for the track, similarity is set to
+    None and the object's gid is left unchanged.
+    """
+    uuid_manager.active_ids = {}
+    sscape_object.gid = 'original-gid'
+
+    uuid_manager.pickBestID(sscape_object)
+
+    assert sscape_object.similarity is None
+
+  def test_accumulates_reid_vectors_for_known_track(self, uuid_manager, sscape_object):
+    """! Once a GID is locked in active_ids and the object has reid
+    vectors, subsequent calls to pickBestID append them to
+    features_for_database so the track can be indexed on departure.
+    """
+    stored_gid = 'database-uuid'
+    uuid_manager.active_ids[sscape_object.rv_id] = [stored_gid, None]
+    uuid_manager.features_for_database[sscape_object.rv_id] = {
+      'gid': stored_gid,
+      'category': sscape_object.category,
+      'reid_vectors': [],
+    }
+    reid_vector = np.ones((1, 256))
+    sscape_object.reidVector = reid_vector
+
+    uuid_manager.pickBestID(sscape_object)
+
+    assert len(uuid_manager.features_for_database[sscape_object.rv_id]['reid_vectors']) == 1
+
+
+class TestAssignIDFallbackBehavior:
+  """The GID fallback in assignID must fire ONLY when re-id is explicitly
+  disabled, never while feature collection is still in progress."""
+
+  def test_reid_enabled_insufficient_features_does_not_lock_gid(
+      self, uuid_manager, sscape_object):
+    """! Core bug-fix regression test: with re-id enabled and fewer than
+    DEFAULT_MINIMUM_FEATURE_COUNT features gathered, active_ids must stay
+    [None, None] so that feature collection continues on subsequent frames.
+
+    Before the fix the 'else' branch would set active_ids[rv_id] to
+    [gid, None] on the very first frame, causing isNewTrackerID() to return
+    False on subsequent frames and permanently skipping
+    gatherQualityVisualFeatures().
+    """
+    uuid_manager.reid_enabled = True
+    # Seed fewer features than the minimum
+    _populate_features(uuid_manager, sscape_object.rv_id,
+                       DEFAULT_MINIMUM_FEATURE_COUNT - 1)
+
+    uuid_manager.assignID(sscape_object)
+
+    # active_ids should remain [None, None] – GID must NOT be locked in yet
+    assert uuid_manager.active_ids.get(sscape_object.rv_id) == [None, None]
+
+  def test_reid_enabled_gid_not_locked_across_multiple_frames(
+      self, uuid_manager, sscape_object):
+    """! Calling assignID repeatedly while features are still accumulating
+    must keep active_ids[rv_id] == [None, None] on every call (not
+    prematurely lock the GID after the first call).
+    """
+    uuid_manager.reid_enabled = True
+
+    for _ in range(DEFAULT_MINIMUM_FEATURE_COUNT - 1):
+      uuid_manager.assignID(sscape_object)
+      assert uuid_manager.active_ids.get(sscape_object.rv_id) == [None, None], \
+        "GID was locked before sufficient features were collected"
+
+  def test_reid_disabled_locks_gid_immediately(self, uuid_manager, sscape_object):
+    """! When re-id is disabled the GID fallback must fire on the first
+    call to assignID, setting active_ids[rv_id] to [gid, None].
+    """
+    uuid_manager.reid_enabled = False
+
+    uuid_manager.assignID(sscape_object)
+
+    result = uuid_manager.active_ids.get(sscape_object.rv_id)
+    assert result == [sscape_object.gid, None]
+
+  def test_reid_enabled_sufficient_features_submits_query(
+      self, uuid_manager, sscape_object):
+    """! When re-id is enabled and the feature count reaches
+    DEFAULT_MINIMUM_FEATURE_COUNT, a similarity query must be submitted
+    to the thread pool exactly once.
+    """
+    uuid_manager.reid_enabled = True
+    _populate_features(uuid_manager, sscape_object.rv_id,
+                       DEFAULT_MINIMUM_FEATURE_COUNT)
+
+    uuid_manager.assignID(sscape_object)
+
+    uuid_manager.pool.submit.assert_called_once()
+
+  def test_reid_enabled_sufficient_features_query_submitted_only_once(
+      self, uuid_manager, sscape_object):
+    """! Once the similarity query has been submitted (active_query[rv_id]
+    is set), subsequent frames must not submit it again even if the feature
+    count remains above the minimum.
+    """
+    uuid_manager.reid_enabled = True
+    _populate_features(uuid_manager, sscape_object.rv_id,
+                       DEFAULT_MINIMUM_FEATURE_COUNT)
+
+    uuid_manager.assignID(sscape_object)  # first call – query submitted
+    uuid_manager.assignID(sscape_object)  # second call – should not re-submit
+
+    assert uuid_manager.pool.submit.call_count == 1
+
+  def test_assign_id_known_tracker_id_calls_pick_best_id(
+      self, uuid_manager, sscape_object):
+    """! For a track that already has an entry in active_ids with a non-None
+    GID (i.e., isNewTrackerID returns False), assignID must call pickBestID
+    to apply the stored GID to the object.
+    """
+    stored_gid = 'already-resolved-gid'
+    uuid_manager.active_ids[sscape_object.rv_id] = [stored_gid, 3.1]
+
+    uuid_manager.assignID(sscape_object)
+
+    assert sscape_object.gid == stored_gid
+
+  def test_reid_disabled_no_query_submitted(self, uuid_manager, sscape_object):
+    """! When re-id is disabled the thread pool must never be asked to run
+    a similarity query.
+    """
+    uuid_manager.reid_enabled = False
+    _populate_features(uuid_manager, sscape_object.rv_id,
+                       DEFAULT_MINIMUM_FEATURE_COUNT)
+
+    uuid_manager.assignID(sscape_object)
+
+    uuid_manager.pool.submit.assert_not_called()
+
+
+# ===========================================================================
+# Supporting helpers
+# ===========================================================================
+
+def _make_tracked_obj(track_id):
+  """Return a minimal mock with .id set to *track_id*."""
+  obj = MagicMock()
+  obj.id = track_id
+  return obj
+
+
+# ---------------------------------------------------------------------------
+# Pytest fixtures
+# ---------------------------------------------------------------------------
+
+@pytest.fixture
+def uuid_manager():
+  """Provide a fresh UUIDManager for each test."""
+  return _make_uuid_manager()
+
+
+@pytest.fixture
+def sscape_object():
+  """Provide a default mock Scenescape object."""
+  return _make_sscape_object()