schema_version: slac.imu_lidar_translation/v0.1
method: accelerometer_lever_arm/v0.1
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data, so not calibrated: x, y, z'
calibrated_dofs: []
translation_m:
- -0.005301553267472554
- -0.03505980860437661
- 0.17956775959011678
rotation_input:
  artifact_sha256: 2392533025b5c21f6efafc52f10c3bbb93e26464453ab3f2613e2c0bc2caf341
  policy_status: inconclusive
  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
axes:
- name: x
  unit: m
  value: -0.005301553267472554
  std_analytic: 0.012256163119328986
  std_jackknife: 0.08801590051707811
  std_segment_sensitivity: 0.15456299035265042
  std_reported: 0.15456299035265042
  status: unobservable
  reference_value: 0.011
  error_to_reference: -0.016301553267472554
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: -21.18370184068499
    detected: false
- name: y
  unit: m
  value: -0.03505980860437661
  std_analytic: 0.01076015538635556
  std_jackknife: 0.06767536627355301
  std_segment_sensitivity: 0.11842034168499288
  std_reported: 0.11842034168499288
  status: unobservable
  reference_value: 0.02329
  error_to_reference: -0.05834980860437661
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 7.658248417181312
    detected: false
- name: z
  unit: m
  value: 0.17956775959011678
  std_analytic: 0.014814897300326596
  std_jackknife: 0.09653805318008286
  std_segment_sensitivity: 0.09343074279120028
  std_reported: 0.09653805318008286
  status: unobservable
  reference_value: -0.04412
  error_to_reference: 0.22368775959011677
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 11.9409473697051
    detected: true
segment_sensitivity:
- segment_duration_s: 1.0
  translation_m:
  - 0.030991190663378354
  - 0.053883086176951256
  - 0.21547442084981325
- segment_duration_s: 4.0
  translation_m:
  - 0.14926143708517786
  - 0.08336053308061628
  - 0.27299850238131707
options:
  holdout_every: 3
  jackknife_groups: 8
  translation_control_m: 0.02
  detection_delta_chi2: 9.0
  segment_duration_s: 2.0
  sensitivity_segment_durations_s:
  - 1.0
  - 4.0
  min_segment_scans: 4
  huber_k: 1.5
  observable_translation_std_m: 0.01
  window_duration_s: 10.0
  local_map_scans: 5
windows:
  windows: 28
  segments: 139
  scan_rows: 2629
  imu_samples: 55435
train_windows: 19
holdout_windows: 9
jackknife_fits: 8
train_median_position_residual_m: 0.0032095191098053958
holdout_median_position_residual_m: 0.003349873593392849
gravity_norm_median_mps2: 9.11311074001027
reference: 'Livox MID360 manual: IMU at (11.0, 23.29, -44.12) mm in the LiDAR frame'
limitations:
- The reference translation is the MID360 design value (11.0, 23.29, -44.12) mm; it
  is not a measurement.
- The rotation, clock offset, and gyro bias are taken from the rotation artifact;
  their errors propagate into the lever arm.
- The LiDAR odometry is deskewed with the gyro, so it depends on the IMU.
- Accelerometer scale and axis misalignment are not estimated.
provenance:
  generator: calibrex.evaluation.imu_lidar_translation
  generator_version: 0.4.1
  git_commit: 375aa74
  command:
  - calibrex
  - imu-lidar
  - livox-translation
  - rosbag2_2024_04_16-14_17_01
  - --profile
  - livox-ros-driver2
  - --rotation
  - docs/assets/mid360_imu_lidar_rotation_driving_slam.yaml
  - --dataset-family
  - zenodo_driving_slam_mid360
  - --dataset-license
  - CC-BY-4.0
  - --output
  - docs/assets/mid360_imu_lidar_translation_driving_slam.yaml
  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
  created_at: '2026-09-29T22:16:45.257115+00:00'