schema_version: slac.imu_lidar_translation/v0.1
method: accelerometer_lever_arm/v0.1
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:
- 0.021276779775436093
- 0.024264620108682577
- -0.038488200493793555
rotation_input:
  artifact_sha256: cd2e6a721fa2c1b44e1a3e694b26d52877adacd95c2d805625b1cd1b0a14f38a
  policy_status: pass
  rotation_quat_xyzw:
  - -0.000696015127897287
  - 0.001215741172701319
  - -0.0013476044235809597
  - 0.9999981107475455
  time_offset_s: 0.009819330640031654
  gyro_bias_rps:
  - 0.015584243593181531
  - -0.0024535071974934736
  - 0.0016707707647081948
axes:
- name: x
  unit: m
  value: 0.021276779775436093
  std_analytic: 0.0007237891215293029
  std_jackknife: 0.004048618209600335
  std_segment_sensitivity: 0.006052412635815855
  std_reported: 0.006052412635815855
  status: estimated
  reference_value: 0.011
  error_to_reference: 0.010276779775436094
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 667.9382504599525
    detected: true
- name: y
  unit: m
  value: 0.024264620108682577
  std_analytic: 0.000594690075310476
  std_jackknife: 0.0013578089617818658
  std_segment_sensitivity: 0.00518101412989767
  std_reported: 0.00518101412989767
  status: estimated
  reference_value: 0.02329
  error_to_reference: 0.0009746201086825758
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 677.3860880854445
    detected: true
- name: z
  unit: m
  value: -0.038488200493793555
  std_analytic: 0.001113976622937692
  std_jackknife: 0.005336641120653736
  std_segment_sensitivity: 0.004241762772633141
  std_reported: 0.005336641120653736
  status: estimated
  reference_value: -0.04412
  error_to_reference: 0.005631799506206445
  known_bad_control:
    amount: 0.02
    unit: m
    holdout_delta_chi2: 181.38253111302038
    detected: true
segment_sensitivity:
- segment_duration_s: 1.0
  translation_m:
  - 0.027329192411251948
  - 0.022122103051560652
  - -0.038439118813551415
- segment_duration_s: 4.0
  translation_m:
  - 0.015874965400887685
  - 0.029445634238580248
  - -0.042729963266426696
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: 88
  segments: 438
  scan_rows: 8193
  imu_samples: 175191
train_windows: 59
holdout_windows: 29
jackknife_fits: 8
train_median_position_residual_m: 0.004914716724894828
holdout_median_position_residual_m: 0.00559787756295972
gravity_norm_median_mps2: 9.792546434822256
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
  - stadtgarten_seq2
  - --profile
  - rtk-slam
  - --rotation
  - docs/assets/mid360_imu_lidar_rotation_rtk_slam_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_seq2.yaml
  dataset_family: rtk_slam
  sequence_ids:
  - stadtgarten_seq2
  stream_profile: rtk-slam
  input_sha256: 982633678ad25547864db63e53b9d0749c59d97ece79b8b28b3c1e734c93417f
  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: '2026-09-29T22:25:12.188581+00:00'