schema_version: slac.sota_audit_result/v0.1
audit_id: mid360-imu-lidar-rotation-vs-li-init-v1
protocol_id: mid360-imu-lidar-rotation-vs-li-init-v1
scope:
  modalities:
  - imu
  - lidar
  quantities:
  - rotation
  - time_offset
  category: targetless_imu_lidar
claim_text: On two MID360 recordings from two dataset families, Calibrex's IMU-LiDAR
  rotation calibration fits held-out data at least as well as LI-Init, and returns
  an estimate wherever LI-Init returns one.
verdict: supported
achieved_dataset_families:
- rtk_slam
- zenodo_driving_slam_mid360
achieved_independent_rig_count: 2
minimum_dataset_families: 2
minimum_independent_rigs: 2
requirements:
- requirement_id: calibrex-estimate-rtk-slam
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
- requirement_id: calibrex-estimate-driving
  required: true
  status: achieved
  observed_value: 0.0
  threshold: 0.0
  reason: observed 0 meets less_equal 0
  evidence_path: docs/assets/mid360_imu_lidar_benchmark_zenodo_driving_slam_mid360.yaml
  evidence_sha256: f7b625326d483caad5a484295152560c79d8416df39f46b1b191e64eaa2ce0b2
- requirement_id: calibrex-not-worse-than-li-init-rtk-slam
  required: true
  status: achieved
  observed_value: 0.0895228264477501
  threshold: 0.0
  reason: observed 0.0895228264478 meets greater_equal 0
  evidence_path: docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
- requirement_id: calibrex-absolute-fit-rtk-slam
  required: true
  status: achieved
  observed_value: 0.01234189527702387
  threshold: 0.02
  reason: observed 0.012341895277 meets less_equal 0.02
  evidence_path: docs/assets/mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
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: 96dba50
  command: []
  source_sha256:
    protocol: 9ea63b70dec29c5092f5c2ceca7d605cb71ab111c0385d0aebd692e48e9e7776
    calibrex-estimate-rtk-slam: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
    calibrex-estimate-driving: f7b625326d483caad5a484295152560c79d8416df39f46b1b191e64eaa2ce0b2
    calibrex-not-worse-than-li-init-rtk-slam: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
    calibrex-absolute-fit-rtk-slam: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
  created_at: '2026-09-29T21:22:33.133527+00:00'