schema_version: slac.sota_audit_result/v0.1
audit_id: hilti-camera-imu-v1
protocol_id: hilti-camera-imu-v1
scope:
  modalities:
  - camera
  - imu
  quantities:
  - rotation
  - time_offset
  category: targetless_camera_imu
claim_text: On four Hilti 2022 recordings not used to develop the method, Calibrex's
  targetless camera-IMU rotation for the two forward cameras agrees with Kalibr within
  1.0 deg and 0.5 ms, is constrained on all three axes, reproduces across recordings
  within 0.75 deg, and reproduces Kalibr's cam0-to-cam1 rotation within 0.5 deg.
verdict: refuted
achieved_dataset_families:
- hilti2022
achieved_independent_rig_count: 1
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: rotation-vs-kalibr
  required: true
  status: achieved
  observed_value: 0.6959771316464011
  threshold: 1.0
  reason: observed 0.695977131646 meets less_equal 1
  evidence_path: docs/assets/hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
- requirement_id: time-offset-vs-kalibr
  required: true
  status: achieved
  observed_value: 0.3323695984394283
  threshold: 0.5
  reason: observed 0.332369598439 meets less_equal 0.5
  evidence_path: docs/assets/hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
- requirement_id: constrained
  required: true
  status: contradicted
  observed_value: 1.0
  threshold: 0.0
  reason: observed 1 does not meet less_equal 0
  evidence_path: docs/assets/hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
- requirement_id: no-failed-units
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: docs/assets/hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
- requirement_id: cross-recording-consistency
  required: true
  status: achieved
  observed_value: 0.4299395353782442
  threshold: 0.75
  reason: observed 0.429939535378 meets less_equal 0.75
  evidence_path: docs/assets/hilti_camera_imu_consistency_benchmark.yaml
  evidence_sha256: 2ca8cb85ed26a76ef4e743ea33d2c7a504a64b12df0654e29dd68316df451a49
- requirement_id: relative-cam0-cam1
  required: true
  status: achieved
  observed_value: 0.40570922601961995
  threshold: 0.5
  reason: observed 0.40570922602 meets less_equal 0.5
  evidence_path: docs/assets/hilti_camera_imu_relative_benchmark.yaml
  evidence_sha256: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
- requirement_id: scored-recordings-coverage
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.25
  reason: observed 0 meets less_equal 0.25
  evidence_path: docs/assets/hilti_camera_imu_relative_benchmark.yaml
  evidence_sha256: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
summary: At least one frozen required numerical or integrity gate is contradicted;
  the declared SOTA claim is not supported.
provenance:
  generator: calibrex.evaluation.sota_audit
  generator_version: 0.5.0
  git_commit: c4d51d2
  command:
  - calibrex
  - sota
  - audit
  - docs/assets/hilti_camera_imu_sota_protocol.yaml
  - --output
  - docs/assets/hilti_camera_imu_sota_audit.yaml
  source_sha256:
    protocol: 3ec688784a4bbe2d802b49eb1bb61fc6005e20b8b77938669144924099469e8b
    rotation-vs-kalibr: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
    time-offset-vs-kalibr: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
    constrained: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
    no-failed-units: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
    cross-recording-consistency: 2ca8cb85ed26a76ef4e743ea33d2c7a504a64b12df0654e29dd68316df451a49
    relative-cam0-cam1: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
    scored-recordings-coverage: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
  created_at: '2026-10-02T09:37:43.026122+00:00'