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:
  - -0.634467774735868
  - -1.0137397145667986
  - 1.5479669266936675
  rotation_quat_xyzw:
  - -0.007717420899130814
  - 0.0058753092293858476
  - -0.015728025773477938
  - 0.9998292611048116
time_offset_s: -0.007919737722017942
reference_scale: 0.9966249775519792
dofs:
- name: roll
  unit: deg
  value: -0.8948849804211014
  std_analytic: 0.22631503899355446
  std_jackknife: 0.37749863985418725
  std_reported: 0.37749863985418725
  status: unobservable
  reference_value: -0.8493269379538126
  error_to_reference: -0.0371993646730021
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: -10.193446730719415
    detected: false
- name: pitch
  unit: deg
  value: 0.6592513389601725
  std_analytic: 0.22718786136505945
  std_jackknife: 0.18348172613385316
  std_reported: 0.22718786136505945
  status: unobservable
  reference_value: 0.11664432400331386
  error_to_reference: 0.5432676883940194
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 83.40118690514214
    detected: true
- name: yaw
  unit: deg
  value: -1.8076065851414067
  std_analytic: 0.1505590086227206
  std_jackknife: 1.2348330706022916
  std_reported: 1.2348330706022916
  status: unobservable
  reference_value: 0.04327600301885539
  error_to_reference: -1.8505601861292102
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: -67.46367131322882
    detected: false
- name: x
  unit: m
  value: -0.634467774735868
  std_analytic: 0.14035519449645448
  std_jackknife: 1.1548604905491313
  std_reported: 1.1548604905491313
  status: unobservable
  reference_value: 0.8105439720319256
  error_to_reference: -1.4450117467677936
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -4.116713033329916
    detected: false
- name: y
  unit: m
  value: -1.0137397145667986
  std_analytic: 0.13936493791868335
  std_jackknife: 0.9905856191894952
  std_reported: 0.9905856191894952
  status: unobservable
  reference_value: -0.30705437225086085
  error_to_reference: -0.7066853423159377
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -6.048880750504395
    detected: false
- name: z
  unit: m
  value: 1.5479669266936675
  std_analytic: 0.5349406036937058
  std_jackknife: 2.0400337536190154
  std_reported: 2.0400337536190154
  status: unobservable
  reference_value: 0.8027239945583536
  error_to_reference: 0.7452429321353139
  known_bad_control:
    amount: 0.1
    unit: m
    holdout_delta_chi2: -0.7058888198996556
    detected: false
- name: time_offset
  unit: s
  value: -0.007919737722017942
  std_analytic: 0.0022388558368332872
  std_jackknife: 0.013514537877208738
  std_reported: 0.013514537877208738
  status: unobservable
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: -23.38895227841499
    detected: false
- name: reference_scale
  unit: ratio
  value: 0.9966249775519792
  std_analytic: 0.0025133223728027966
  std_jackknife: 0.020967857168637312
  std_reported: 0.020967857168637312
  status: unobservable
options:
  step_frames:
  - 5
  - 10
  - 20
  exclude_failed_registrations: true
  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: 112
  rotation_rmse_deg: 0.1511007517134596
  translation_rmse_m: 0.25591232553065046
  rotation_median_deg: 0.10624896906667936
  translation_median_m: 0.10092203655524368
holdout:
  motion_count: 52
  rotation_rmse_deg: 0.14241189817305597
  translation_rmse_m: 0.2463974543505258
  rotation_median_deg: 0.09672497706640235
  translation_median_m: 0.14637728858921456
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
  - filtered
  - 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: '2026-10-22T14:12:14.137545+00:00'