schema_version: slac.sota_audit_protocol/v0.1
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.
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: calibrex-estimate
  phase: audit
  description: Calibrex estimates pitch and yaw on the pooled evaluation drives
  dataset_family: kitti_raw
  independent_rig: true
  rig_id: kitti-2011-09-26
  evidence_path: kitti_lidar_vehicle_holdout_benchmark.yaml
  evidence_sha256: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
  method_id: calibrex_native
  statistic: failure_rate
  comparison: less_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-not-worse-than-vendor
  phase: audit
  description: paired 95 % CI lower bound of the improvement over calib_imu_to_velo
    >= 0
  dataset_family: kitti_raw
  independent_rig: false
  evidence_path: kitti_lidar_vehicle_holdout_benchmark.yaml
  evidence_sha256: 3584c7139bbc0b525555be16b1d0c7bf90a5b118c4568c939a2652be5af7a2a6
  method_id: calibrex_native
  reference_method_id: kitti_vendor
  metric: holdout_block_nonholonomic_chi2
  statistic: paired_improvement_ci95_low
  comparison: greater_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-agrees-with-oxts-motion-frame
  phase: audit
  description: mean per-drive pitch/yaw agreement <= 0.5 deg
  dataset_family: kitti_raw
  independent_rig: false
  evidence_path: kitti_lidar_vehicle_agreement_benchmark.yaml
  evidence_sha256: f9fffab9e5e806c3c06ee15ea36bf85b48fe9bc6bf2862ad3401dc36fa64304f
  method_id: calibrex_native
  metric: pitch_yaw_agreement_deg
  statistic: metric_mean
  comparison: less_equal
  threshold: 0.5
  required: true
provenance:
  generator: tools/build_kitti_lidar_vehicle_audit.py
  generator_version: 0.4.1
  command:
  - python
  - tools/build_kitti_lidar_vehicle_audit.py
  - CACHE.pkl
  - docs/assets/kitti_lidar_vehicle_audit/scores.json
  - docs/assets
  source_sha256:
    preregistration: db1f32f695f34af7ef27ea27b941ec62a8a693682ee16687c0ade9b1474ea7ca
    scores: c7348beef90e76ccad321faa7e9757717ab7af5b6ee073520f748e067f46dc17
  created_at: '2026-09-30T23:13:49.961945+00:00'