schema_version: slac.imu_lidar_rotation/v0.1
method: angular_rate_alignment/v0.1
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data, so not calibrated: pitch, yaw'
calibrated_dofs:
- roll
- time_offset
- gyro_bias_x
- gyro_bias_y
- gyro_bias_z
rotation_quat_xyzw:
- -0.002730571973165155
- -0.0005370603377631267
- 0.005346827090157084
- 0.9999818333264665
time_offset_s: 0.0022662705798585686
gyro_bias_rps:
- 0.001617786135232598
- -0.0009170464121713784
- 0.002936230899393015
dofs:
- name: roll
  unit: deg
  value: -0.3132256037899565
  std_analytic: 0.08556093436339787
  std_jackknife: 0.0426730641329369
  std_reported: 0.08556093436339787
  status: estimated
  reference_value: 0.0
  error_to_reference: -0.3132256037899565
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 203.72512984602145
    detected: true
- name: pitch
  unit: deg
  value: -0.05986844939874694
  std_analytic: 0.08990626627892843
  std_jackknife: 0.31463766593994685
  std_reported: 0.31463766593994685
  status: unobservable
  reference_value: 0.0
  error_to_reference: -0.05986844939874694
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 169.72418747075426
    detected: true
- name: yaw
  unit: deg
  value: 0.6128701894668556
  std_analytic: 0.22832572105291393
  std_jackknife: 0.38932202259020976
  std_reported: 0.38932202259020976
  status: unobservable
  reference_value: 0.0
  error_to_reference: 0.6128701894668556
  known_bad_control:
    amount: 1.0
    unit: deg
    holdout_delta_chi2: 2.9946912638906724
    detected: false
- name: time_offset
  unit: s
  value: 0.0022662705798585686
  std_analytic: 0.00014767191984173467
  std_jackknife: 0.00017688886017308366
  std_reported: 0.00017688886017308366
  status: estimated
  known_bad_control:
    amount: 0.01
    unit: s
    holdout_delta_chi2: 1208.8094882052228
    detected: true
- name: gyro_bias_x
  unit: rad/s
  value: 0.001617786135232598
  std_analytic: 7.233953227944471e-05
  std_jackknife: 0.0009154540953431873
  std_reported: 0.0009154540953431873
  status: estimated
- name: gyro_bias_y
  unit: rad/s
  value: -0.0009170464121713784
  std_analytic: 7.050570429927e-05
  std_jackknife: 6.98432771184364e-05
  std_reported: 7.050570429927e-05
  status: estimated
- name: gyro_bias_z
  unit: rad/s
  value: 0.002936230899393015
  std_analytic: 6.905639834912312e-05
  std_jackknife: 0.00011437244459482463
  std_reported: 0.00011437244459482463
  status: estimated
options:
  holdout_every: 3
  jackknife_groups: 8
  rotation_control_deg: 1.0
  time_control_s: 0.01
  detection_delta_chi2: 9.0
  window_duration_s: 10.0
  local_map_scans: 5
  deskew_iterations: 1
  gyro_deskew_passes: 5
  deskew_convergence_sigma: 0.25
  feedback_check_deg: 2.0
  model: preintegrated
  pair_steps:
  - 1
  rate_sigma_floor_rps: 0.01
  rate_sigma_fraction: 0.02
  observable_rotation_std_deg: 0.1
  observable_time_offset_std_s: 0.002
windows:
  scans_read: 2772
  odometry_segments: 1
  unreliable_registrations: 0
  windows: 28
  rate_intervals: 2740
  imu_samples: 55435
train_windows: 19
holdout_windows: 9
jackknife_fits: 8
train_median_rate_residual_rps: 0.005039984147756715
holdout_median_rate_residual_rps: 0.005368011308720275
reference: 'Livox MID360 manual: IMU axes aligned with the LiDAR frame'
deskew_passes:
- deskew: lidar_constant_velocity
  policy_status: inconclusive
  time_offset_s: -0.00048070763930612803
  holdout_median_rate_residual_rps: 0.005477264297396306
  rotation_rpy_deg:
  - -0.4764440739714011
  - -0.04018088455503852
  - 0.47424288599916536
- deskew: gyro
  policy_status: inconclusive
  time_offset_s: 0.0001340865924147973
  holdout_median_rate_residual_rps: 0.0052932573158190055
  rotation_rpy_deg:
  - -0.3578632221688008
  - -0.045307539248150994
  - 0.5561665562312531
- deskew: gyro
  policy_status: inconclusive
  time_offset_s: 0.00035794855143939867
  holdout_median_rate_residual_rps: 0.0051326304588625304
  rotation_rpy_deg:
  - -0.3550722291643509
  - -0.033847603148233485
  - 0.34715976918581964
- deskew: gyro
  policy_status: inconclusive
  time_offset_s: 0.0009571626577594616
  holdout_median_rate_residual_rps: 0.005320466008339313
  rotation_rpy_deg:
  - -0.32838461566574145
  - -0.03339400528810079
  - 0.3312265713437923
- deskew: gyro
  policy_status: inconclusive
  time_offset_s: 0.0016278066300830904
  holdout_median_rate_residual_rps: 0.005387980113256467
  rotation_rpy_deg:
  - -0.33243235253276904
  - -0.03928735053465908
  - 0.5191864069961836
- deskew: gyro
  policy_status: inconclusive
  time_offset_s: 0.0022662705798585686
  holdout_median_rate_residual_rps: 0.005368011308720275
  rotation_rpy_deg:
  - -0.3132256037899565
  - -0.05986844939874694
  - 0.6128701894668556
- deskew: gyro_feedback_check
  policy_status: inconclusive
  time_offset_s: 0.002634973982772533
  holdout_median_rate_residual_rps: 0.005386695151062963
  rotation_rpy_deg:
  - -0.30131798690132117
  - -0.08632059052599043
  - 0.6847296425029589
deskew_feedback_ratio: 0.03875393923439133
limitations:
- The reference rotation is the MID360 design value (IMU axes aligned with the LiDAR);
  it is not a measurement.
- Mean angular rates over one LiDAR period approximate the rotation increment; the
  second-order error grows with the rotation per period.
- The translation of T_lidar_imu is not estimated by this method.
provenance:
  generator: calibrex.evaluation.imu_lidar_rotation
  generator_version: 0.4.1
  git_commit: d219035
  command:
  - calibrex
  - imu-lidar
  - livox
  - --profile
  - livox-ros-driver2
  - rosbag2_2024_04_16-14_17_01
  dataset_family: zenodo_driving_slam_mid360
  sequence_ids:
  - rosbag2_2024_04_16-14_17_01
  stream_profile: livox-ros-driver2
  input_sha256: 5eaed7e0bd95243510e5847b3ebaf11d9198eeb33ce5f7f945ad8475628006ff
  input_digest_scope: bag metadata.yaml in full; bag databases by size and first 64
    MiB
  dataset_license: CC BY 4.0 (Zenodo record 14841855)
  created_at: '2026-09-29T16:57:29.414459+00:00'