schema_version: slac.vehicle_frame_rotation/v0.1
method: non_holonomic_motion/v0.1
sensor_modality: lidar
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data, so not calibrated: roll'
calibrated_dofs:
- pitch
- yaw
rotation_quat_xyzw:
- 0.001932507109574674
- 0.005360871757424889
- -0.0023039182924865704
- 0.9999811090369525
lever_m: 0.6521392423095822
dofs:
- name: roll
  unit: deg
  value: 0.22004270695311662
  std_analytic: 0.07306713078973331
  std_jackknife: 0.4241138386330256
  std_reported: 0.4241138386330256
  status: unobservable
  known_bad_control:
    amount_deg: 1.0
    holdout_delta_chi2: 46.5858750044672
    detected: true
- name: pitch
  unit: deg
  value: 0.6148210469638588
  std_analytic: 0.013639218564383356
  std_jackknife: 0.041333543552269404
  std_reported: 0.041333543552269404
  status: estimated
  known_bad_control:
    amount_deg: 1.0
    holdout_delta_chi2: 986.0184051815195
    detected: true
- name: yaw
  unit: deg
  value: -0.26283349575486575
  std_analytic: 0.013897728077612382
  std_jackknife: 0.05325941349153608
  std_reported: 0.05325941349153608
  status: estimated
  known_bad_control:
    amount_deg: 1.0
    holdout_delta_chi2: 816.2910520640808
    detected: true
references:
- name: KITTI calib_imu_to_velo rotation (OXTS frame, taken as the vehicle frame)
  rotation_quat_xyzw:
  - -0.007412087927097046
  - 0.0010150864839657396
  - 0.0003851882697583308
  - 0.9999719406973318
  difference_deg:
  - 1.0703050726565597
  - 0.49611308699565165
  - -0.3129247023722602
  holdout_delta_chi2: 271.9852262688223
- name: vehicle frame from the OXTS velocities (same solver) composed with KITTI calib_imu_to_velo
  rotation_quat_xyzw:
  - 0.002292982301859842
  - 0.004843714949003125
  - -0.0010317375419334287
  - 0.9999851079767642
  difference_deg:
  - -0.04195074230093479
  - 0.05964005411999586
  - -0.1454435586361779
  holdout_delta_chi2: 17.20375846645311
motions: 1998
train_motions: 1342
holdout_motions: 656
train_blocks:
- 0
- 100000
- 100001
- 100003
- 100004
- 200001
- 200002
- 300000
- 300001
- 300003
- 400000
- 400002
- 400003
- 400005
- 400006
- 400008
holdout_blocks:
- 1
- 100002
- 200000
- 200003
- 300002
- 400001
- 400004
- 400007
jackknife_fits: 8
train_median_normalized_residual: 0.35086265750207013
holdout_median_normalized_residual: 0.39275040466522093
options:
  step_frames: 2
  block_duration_s: 10.0
  holdout_every: 3
  jackknife_groups: 8
  control_deg: 1.0
  detection_delta_chi2: 9.0
  observable_rotation_std_deg: 0.1
  min_speed_mps: 2.0
  velocity_sigma_mps: 0.05
  velocity_sigma_fraction: 0.01
  rate_sigma_rps: 0.01
limitations:
- 'The vehicle frame is defined by the motion: it assumes no side slip and no vertical
  velocity, and roll needs turns.'
- KITTI's calib_imu_to_velo gives the OXTS frame; the OXTS unit need not be aligned
  with the vehicle, so a second reference derives the vehicle frame from the OXTS
  velocities with the same solver.
- The translation of T_vehicle_sensor is not estimated.
provenance:
  generator: calibrex.evaluation.vehicle_frame
  generator_version: 0.4.1
  git_commit: '6668415'
  command:
  - calibrex
  - lidar-vehicle
  - kitti
  - 2011_09_26_drive_0005_sync
  - 2011_09_26_drive_0009_sync
  - 2011_09_26_drive_0014_sync
  - 2011_09_26_drive_0015_sync
  - 2011_09_26_drive_0022_sync
  - --output
  - docs/assets/kitti_lidar_vehicle/dev_2011_09_26.yaml
  dataset_family: kitti_raw
  sequence_ids:
  - 2011_09_26_drive_0005_sync
  - 2011_09_26_drive_0009_sync
  - 2011_09_26_drive_0014_sync
  - 2011_09_26_drive_0015_sync
  - 2011_09_26_drive_0022_sync
  sensor: velodyne
  input_sha256: ccd9b4315064b2a1b253c9c6d4dcecba2948294f8e4075bcb3e65923d70738cf
  dataset_license: CC BY-NC-SA 3.0
  created_at: '2026-09-30T18:17:47.727576+00:00'