schema_version: slac.sota_audit_result/v0.1
audit_id: kitti-lidar-vehicle-v1
protocol_id: kitti-lidar-vehicle-v1
scope:
  modalities:
  - lidar
  - vehicle
  quantities:
  - rotation
  category: targetless_lidar_vehicle
claim_text: On eight KITTI raw drives not used to develop the method, Calibrex's motion-only
  LiDAR-to-vehicle rotation fits held-out LiDAR motion at least as well as KITTI's
  calib_imu_to_velo, and its pitch and yaw agree with an independent vehicle frame
  from the OXTS body-frame velocities.
verdict: supported
achieved_dataset_families:
- kitti_raw
achieved_independent_rig_count: 1
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: calibrex-estimate
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: docs/assets/kitti_lidar_vehicle_holdout_benchmark.yaml
  evidence_sha256: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
- requirement_id: calibrex-not-worse-than-vendor
  required: true
  status: achieved
  observed_value: 0.05139668308145251
  threshold: 0.0
  reason: observed 0.0513966830815 meets greater_equal 0
  evidence_path: docs/assets/kitti_lidar_vehicle_holdout_benchmark.yaml
  evidence_sha256: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
- requirement_id: calibrex-agrees-with-oxts-motion-frame
  required: true
  status: achieved
  observed_value: 0.2140407686913039
  threshold: 0.5
  reason: observed 0.214040768691 meets less_equal 0.5
  evidence_path: docs/assets/kitti_lidar_vehicle_agreement_benchmark.yaml
  evidence_sha256: f9fffab9e5e806c3c06ee15ea36bf85b48fe9bc6bf2862ad3401dc36fa64304f
summary: Every frozen required gate and declared dataset/rig coverage criterion is
  achieved.
provenance:
  generator: calibrex.evaluation.sota_audit
  generator_version: 0.4.1
  git_commit: 705639b
  command: []
  source_sha256:
    protocol: f3271eb9e577f0bcf352b6ac85cef69cc5fb56fce87a50f56064ca17c1baf539
    calibrex-estimate: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
    calibrex-not-worse-than-vendor: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
    calibrex-agrees-with-oxts-motion-frame: f9fffab9e5e806c3c06ee15ea36bf85b48fe9bc6bf2862ad3401dc36fa64304f
  created_at: '2026-09-30T23:13:50.031673+00:00'