schema_version: slac.lidar_wheel_odometry/v0.1
method: wheel_odometry_motion/v0.1
solver_status: converged
policy_status: warn
policy_reasons:
- speed_scale is reported as estimated but its known-bad shift is not detected (delta
  chi-square -44.9)
- 'not constrained by the data, so not calibrated: roll'
calibrated_parameters:
- pitch
- yaw
- lever
- speed_scale
- time_offset
rotation_quat_xyzw:
- 0.0019016600925656408
- 0.005361516742295074
- -0.0022680352008122785
- 0.9999812467458788
lever_m: 0.6549055949645555
speed_scale: 1.0033877834109262
time_offset_s: 0.07391035935917023
parameters:
- name: roll
  unit: deg
  value: 0.21652964630467622
  std_analytic: 0.06208310379793682
  std_jackknife: 0.42137840582184893
  std_reported: 0.42137840582184893
  status: unobservable
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 46.67570908832204
    detected: true
- name: pitch
  unit: deg
  value: 0.6148790799938431
  std_analytic: 0.011641582599005449
  std_jackknife: 0.04132633876804167
  std_reported: 0.04132633876804167
  status: estimated
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 993.2341274842656
    detected: true
- name: yaw
  unit: deg
  value: -0.2587402436586433
  std_analytic: 0.011860594864590247
  std_jackknife: 0.052132933664341775
  std_reported: 0.052132933664341775
  status: estimated
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 815.0676886265956
    detected: true
- name: lever
  unit: m
  value: 0.6549055949645555
  std_analytic: 0.008453018574827128
  std_jackknife: 0.03398102403313727
  std_reported: 0.03398102403313727
  status: estimated
- name: speed_scale
  unit: ratio
  value: 1.0033877834109262
  std_analytic: 0.00021298276326833562
  std_jackknife: 0.0022223229843825487
  std_reported: 0.0022223229843825487
  status: estimated
  known_bad_control:
    amount: 0.01
    unit: ratio
    holdout_delta_chi2: -44.875539894481335
    detected: false
- name: time_offset
  unit: s
  value: 0.07391035935917023
  std_analytic: 0.0
  std_jackknife: 0.004101919565949169
  std_reported: 0.004101919565949169
  status: estimated
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: 58.09499654007777
    detected: true
references:
- name: LiDAR-to-vehicle estimate from motion alone (lidar-vehicle)
  rotation_quat_xyzw:
  - 0.001932507109574674
  - 0.005360871757424889
  - -0.0023039182924865704
  - 0.9999811090369525
  difference_deg:
  - -0.003512557843616335
  - 7.402146298643116e-05
  - 0.00413095058031515
motions: 1998
train_motions: 1342
holdout_motions: 656
jackknife_fits: 8
train_median_normalized_residual: 0.3002823045515063
holdout_median_normalized_residual: 0.34055075725035344
options:
  step_frames: 2
  block_duration_s: 10.0
  holdout_every: 3
  jackknife_groups: 8
  rotation_control_deg: 1.0
  time_control_s: 0.02
  scale_control: 0.01
  detection_delta_chi2: 9.0
  observable:
    roll: 0.1
    pitch: 0.1
    yaw: 0.1
    lever: 0.2
    speed_scale: 0.005
    time_offset: 0.005
  time_offset_bound_s: 0.3
limitations:
- 'The vehicle frame is the wheel odometry''s: x along the reported speed, z about
  the reported yaw rate; no side slip is assumed.'
- Roll is seen only through the tilt of the turning axis and needs turns.
- 'KITTI has no wheel odometry: the OXTS forward speed and yaw rate stand in for it,
  so the speed scale and clock offset describe the OXTS, not wheels.'
provenance:
  generator: calibrex.evaluation.lidar_wheel
  generator_version: 0.4.1
  git_commit: a801c6f
  command:
  - calibrex
  - lidar-wheel
  - 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
  - --lidar-vehicle
  - docs/assets/kitti_lidar_vehicle/dev_2011_09_26.yaml
  - --output
  - docs/assets/kitti_lidar_vehicle/lidar_wheel_proxy_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
  wheel_source: 'proxy: OXTS level-frame forward speed vf and yaw rate wu (KITTI has
    no wheel odometry)'
  input_sha256: ccd9b4315064b2a1b253c9c6d4dcecba2948294f8e4075bcb3e65923d70738cf
  dataset_license: CC BY-NC-SA 3.0
  created_at: '2026-09-30T18:53:18.651555+00:00'