schema_version: slac.ins_lidar_hand_eye/v0.1
method: joint_trajectory_hand_eye/v0.1
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data or a prior, so not calibrated: roll, pitch, yaw, x,
  y, z'
calibrated_dofs: []
transform:
  parent_frame: ins
  child_frame: lidar
  translation_m:
  - -0.7749492189064268
  - -1.1287563228383741
  - 1.06808465747276
  rotation_quat_xyzw:
  - -0.0072747812906284815
  - 0.006015724175434681
  - -0.01681980635189921
  - 0.9998139740642272
time_offset_s: -0.007254092069492151
reference_scale: 0.9939675071704426
dofs:
- name: roll
  unit: deg
  value: -0.8451575409068529
  std_analytic: 0.22533580315139332
  std_jackknife: 0.3781741877531567
  std_reported: 0.3781741877531567
  status: unobservable
  reference_value: -0.8493269379538126
  error_to_reference: 0.013378269322749485
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: -7.526186884551407
    detected: false
- name: pitch
  unit: deg
  value: 0.6752171332787666
  std_analytic: 0.22649479589109797
  std_jackknife: 0.18150927280388382
  std_reported: 0.22649479589109797
  status: unobservable
  reference_value: 0.11664432400331386
  error_to_reference: 0.5584558283003419
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 86.57956797888346
    detected: true
- name: yaw
  unit: deg
  value: -1.9325647562310353
  std_analytic: 0.1485491035808697
  std_jackknife: 1.225164335633841
  std_reported: 1.225164335633841
  status: unobservable
  reference_value: 0.04327600301885539
  error_to_reference: -1.9758539204373637
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: -69.33682425232882
    detected: false
- name: x
  unit: m
  value: -0.7749492189064268
  std_analytic: 0.13964500763434243
  std_jackknife: 1.1926431343970985
  std_reported: 1.1926431343970985
  status: unobservable
  reference_value: 0.8105439720319256
  error_to_reference: -1.5854931909383523
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -3.299204190581804
    detected: false
- name: y
  unit: m
  value: -1.1287563228383741
  std_analytic: 0.1382116554181043
  std_jackknife: 1.0206065534192956
  std_reported: 1.0206065534192956
  status: unobservable
  reference_value: -0.30705437225086085
  error_to_reference: -0.8217019505875133
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -7.120367426275834
    detected: false
- name: z
  unit: m
  value: 1.06808465747276
  std_analytic: 0.5367990792796629
  std_jackknife: 2.3450164333186367
  std_reported: 2.3450164333186367
  status: unobservable
  reference_value: 0.8027239945583536
  error_to_reference: 0.2653606629144064
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -1.0231671733347412
    detected: false
- name: time_offset
  unit: s
  value: -0.007254092069492151
  std_analytic: 0.002242761277411146
  std_jackknife: 0.014625089344525775
  std_reported: 0.014625089344525775
  status: unobservable
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: -21.024222567609968
    detected: false
- name: reference_scale
  unit: ratio
  value: 0.9939675071704426
  std_analytic: 0.002498238365475159
  std_jackknife: 0.02175245063619936
  std_reported: 0.02175245063619936
  status: unobservable
options:
  step_frames:
  - 5
  - 10
  - 20
  exclude_failed_registrations: false
  holdout_every: 3
  rotation_control_deg: 1.0
  translation_control_m: 0.1
  time_control_s: 0.02
  detection_delta_chi2: 9.0
  estimate_time_offset: true
  estimate_reference_scale: true
  rotation_sigma_rad: 0.0017453292519943296
  translation_sigma_floor_m: 0.01
  translation_sigma_per_m: 0.02
  observable_rotation_std_deg: 0.1
  observable_translation_std_m: 0.02
  observable_time_offset_std_s: 0.005
  priors: []
odometry:
  frame_count: 600
  missing_frames: []
  registration_count: 599
  converged_registrations: 597
  median_correspondences: 3553.0
  median_registration_rmse_m: 0.10524389304167746
block_duration_s: 5.0
train_blocks:
- 0
- 1
- 3
- 4
- 6
- 7
- 9
- 10
- 12
holdout_blocks:
- 2
- 5
- 8
- 11
jackknife_fits: 9
train:
  motion_count: 115
  rotation_rmse_deg: 0.14981274118942478
  translation_rmse_m: 0.25424820469745774
  rotation_median_deg: 0.10543906500048884
  translation_median_m: 0.10486346838415429
holdout:
  motion_count: 53
  rotation_rmse_deg: 0.1409813506788758
  translation_rmse_m: 0.2528027826598364
  rotation_median_deg: 0.09799499342762817
  translation_median_m: 0.1452139307503338
reference_calibration: KITTI calib_imu_to_velo.txt (inverted to T_imu_velo)
limitations:
- Velodyne sweeps are registered as rigid snapshots; motion within a sweep is not
  compensated.
- The KITTI calib_imu_to_velo reference is itself an estimate, not independent metrology;
  differences to it are not accuracy errors.
- OXTS positions come from a Mercator projection of GNSS/INS output and their timestamps
  are logging times; a reference scale and clock offset are estimated as nuisance
  parameters for that reason.
- Vehicle motion is close to planar, so the translation along the vertical rotation
  axis cannot be observed without a prior.
provenance:
  generator: calibrex.evaluation.ins_lidar_hand_eye
  generator_version: 0.5.1
  git_commit: a68644a8
  command:
  - compare-ins-registration-quality-v2.py
  - baseline
  - POST_HOC_DEVELOPMENT_ONLY
  - shared_lidar_only_odometry
  dataset_family: kitti_raw
  drive_ids:
  - 2011_09_29_drive_0071_sync
  input_sha256: ce4ab3fb03435b771d7f7be4ee671f9060c374dc5e47f25725c0e2bc7aaf362a
  dataset_license: CC BY-NC-SA 3.0
  created_at: '2026-10-22T14:12:03.271104+00:00'