schema_version: slac.sota_audit_protocol/v0.1
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.
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: rotation-vs-kalibr
  phase: audit
  description: every scored unit has rotation error <= 1.0 deg
  dataset_family: hilti2022
  independent_rig: true
  rig_id: hilti2022-alphasense
  evidence_path: hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
  method_id: calibrex_native
  metric: rotation_error_deg
  statistic: metric_maximum
  comparison: less_equal
  threshold: 1.0
  required: true
- requirement_id: time-offset-vs-kalibr
  phase: audit
  description: every scored unit has time error <= 0.5 ms
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
  method_id: calibrex_native
  metric: time_error_ms_abs
  statistic: metric_maximum
  comparison: less_equal
  threshold: 0.5
  required: true
- requirement_id: constrained
  phase: audit
  description: every scored unit is constrained
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
  method_id: calibrex_native
  metric: constrained_violation
  statistic: metric_maximum
  comparison: less_equal
  threshold: 0.0
  required: true
- requirement_id: no-failed-units
  phase: audit
  description: no usable unit fails
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_units_benchmark.yaml
  evidence_sha256: 32da53f1cda63e15b7e924d317512580a882f96a899c001472f953850145059e
  method_id: calibrex_native
  statistic: failure_rate
  comparison: less_equal
  threshold: 0.0
  required: true
- requirement_id: cross-recording-consistency
  phase: audit
  description: per camera consistency <= 0.75 deg
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_consistency_benchmark.yaml
  evidence_sha256: 2ca8cb85ed26a76ef4e743ea33d2c7a504a64b12df0654e29dd68316df451a49
  method_id: calibrex_native
  metric: consistency_deg
  statistic: metric_maximum
  comparison: less_equal
  threshold: 0.75
  required: true
- requirement_id: relative-cam0-cam1
  phase: audit
  description: every recording scored for both cameras has relative error <= 0.5 deg
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_relative_benchmark.yaml
  evidence_sha256: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
  method_id: calibrex_native
  metric: relative_deg
  statistic: metric_maximum
  comparison: less_equal
  threshold: 0.5
  required: true
- requirement_id: scored-recordings-coverage
  phase: audit
  description: at least 3 of 4 recordings scored for both cameras
  dataset_family: hilti2022
  independent_rig: false
  evidence_path: hilti_camera_imu_relative_benchmark.yaml
  evidence_sha256: 011f3c028120a1aa1dcf8649b0b7e3386f7c247c4819aa57a0da988f9a875cb4
  method_id: calibrex_native
  statistic: failure_rate
  comparison: less_equal
  threshold: 0.25
  required: true
provenance:
  generator: tools/build_hilti_camera_imu_audit.py
  generator_version: 0.5.0
  command:
  - python
  - tools/build_hilti_camera_imu_audit.py
  - SCORES.json
  source_sha256:
    preregistration: fad67cd1a2cd37d2c32a1485deb6f4390c647a8a3753d0e184d6626bd8ba3ec1
    scores: fcca95adb0de2b1c5ecadc5b8fbbb6b26517388e00ffd0dd8289fc367724be37
  created_at: '2026-10-02T09:37:30.730791+00:00'