schema_version: slac.sota_audit_protocol/v0.1
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.
minimum_dataset_families: 2
minimum_independent_rigs: 2
requirements:
- requirement_id: calibrex-estimate-rtk-slam
  phase: audit
  description: Calibrex returns an estimate on every held-out window (RTK-SLAM)
  dataset_family: rtk_slam
  independent_rig: true
  rig_id: rtk-slam-mid360
  evidence_path: mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
  method_id: calibrex_native
  statistic: failure_rate
  comparison: less_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-estimate-driving
  phase: audit
  description: Calibrex returns an estimate on every held-out window (driving)
  dataset_family: zenodo_driving_slam_mid360
  independent_rig: true
  rig_id: koide-driving-mid360
  evidence_path: mid360_imu_lidar_benchmark_zenodo_driving_slam_mid360.yaml
  evidence_sha256: f7b625326d483caad5a484295152560c79d8416df39f46b1b191e64eaa2ce0b2
  method_id: calibrex_native
  statistic: failure_rate
  comparison: less_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-not-worse-than-li-init-rtk-slam
  phase: audit
  description: paired 95 % CI lower bound of the improvement over LI-Init >= 0
  dataset_family: rtk_slam
  independent_rig: false
  evidence_path: mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
  method_id: calibrex_native
  reference_method_id: li_init
  metric: holdout_window_median_rate_residual_rps
  statistic: paired_improvement_ci95_low
  comparison: greater_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-absolute-fit-rtk-slam
  phase: audit
  description: mean held-out window median residual <= 0.02 rad/s
  dataset_family: rtk_slam
  independent_rig: false
  evidence_path: mid360_imu_lidar_benchmark_rtk_slam.yaml
  evidence_sha256: 8d020632cad81184d0a5558abdf61a3206db6faf8c9fa3b980e9ce50e9132284
  method_id: calibrex_native
  metric: holdout_window_median_rate_residual_rps
  statistic: metric_mean
  comparison: less_equal
  threshold: 0.02
  required: true
provenance:
  generator: tools/build_mid360_imu_lidar_audit.py
  generator_version: 0.4.1
  command:
  - python
  - tools/build_mid360_imu_lidar_audit.py
  - docs/assets/mid360_imu_lidar_scores
  - docs/assets
  source_sha256:
    preregistration: 1fcf9fbd1da391d2aec1355467c0d64317de087c712fdf842463fb392e1b6e0d
  created_at: '2026-09-29T21:22:32.900698+00:00'