schema_version: slac.imu_lidar_translation/v0.1
method: accelerometer_lever_arm/v0.2
solver_status: converged
policy_status: pass
policy_reasons:
- every lever-arm axis is estimated and held-out windows detect every control
calibrated_dofs:
- x
- y
- z
translation_m:
- 0.027042530579371848
- 0.017920282256825577
- -0.03304937378951678
rotation_input:
  artifact_sha256: d8a5ce45457e9fd4f81fa19fef2b5522544e1c6b91f5810534a73acdc326dfa4
  policy_status: pass
  rotation_quat_xyzw:
  - -0.000851059063929538
  - 0.0009991080311700005
  - -0.0020228329935849444
  - 0.99999709280992
  time_offset_s: 0.010203740597923151
  gyro_bias_rps:
  - 0.01980879670889618
  - -0.002739282631906773
  - 0.0023867081891900937
axes:
- name: x
  unit: m
  value: 0.027042530579371848
  std_analytic: 0.0009194302358610362
  std_jackknife: 0.004339654001235656
  std_segment_sensitivity: 0.005557482460156145
  std_reported: 0.005557482460156145
  status: estimated
  reference_value: 0.011
  error_to_reference: 0.01604253057937185
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 316.74267548810894
    detected: true
- name: y
  unit: m
  value: 0.017920282256825577
  std_analytic: 0.0007924136245579819
  std_jackknife: 0.003518474494047734
  std_segment_sensitivity: 0.004559310129149835
  std_reported: 0.004559310129149835
  status: estimated
  reference_value: 0.02329
  error_to_reference: -0.005369717743174424
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 396.19655868448353
    detected: true
- name: z
  unit: m
  value: -0.03304937378951678
  std_analytic: 0.001176217870300829
  std_jackknife: 0.003496232664702099
  std_segment_sensitivity: 0.007853731292336456
  std_reported: 0.007853731292336456
  status: estimated
  reference_value: -0.04412
  error_to_reference: 0.011070626210483221
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 270.8619107696268
    detected: true
segment_sensitivity:
- segment_duration_s: 3.0
  translation_m:
  - 0.024204710078643644
  - 0.01914955038731674
  - -0.033810161751411424
- segment_duration_s: 4.0
  translation_m:
  - 0.021485048119215703
  - 0.013360972127675742
  - -0.040903105081853235
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:
  - 3.0
  - 4.0
  min_segment_scans: 10
  gravity_per_segment: true
  huber_k: 1.5
  observable_translation_std_m: 0.01
  window_duration_s: 10.0
  local_map_scans: 5
windows:
  windows: 59
  segments: 292
  scan_rows: 5437
  imu_samples: 119819
train_windows: 39
holdout_windows: 20
jackknife_fits: 8
train_median_position_residual_m: 0.0031067372422318934
holdout_median_position_residual_m: 0.0038295319671862007
gravity_norm_median_mps2: 9.857883350208064
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: 5f7e694
  command:
  - calibrex
  - imu-lidar
  - livox-translation
  - construction_seq2
  - --profile
  - rtk-slam
  - --rotation
  - docs/assets/mid360_imu_lidar_rotation_rtk_slam_construction_seq2.yaml
  - --dataset-family
  - rtk_slam
  - --dataset-license
  - see https://huggingface.co/datasets/Willyzw/rtk-slam-dataset
  - --output
  - docs/assets/mid360_imu_lidar_translation_rtk_slam_construction_seq2.yaml
  dataset_family: rtk_slam
  sequence_ids:
  - construction_seq2
  stream_profile: rtk-slam
  input_sha256: 63ef720a8ef758ec0539c2f076ab1e9eaebfbb0678af452c7f5114459aeb2fbe
  input_digest_scope: bag metadata.yaml in full; bag databases by size and first 64
    MiB
  dataset_license: see https://huggingface.co/datasets/Willyzw/rtk-slam-dataset
  created_at: '2026-09-30T08:46:17.001086+00:00'