schema_version: slac.sota_audit_result/v0.1
audit_id: ntu-lidar-lidar-v1
protocol_id: ntu-lidar-lidar-v1
scope:
  modalities:
  - lidar
  - lidar
  quantities:
  - rotation
  - translation
  category: targetless_lidar_lidar
claim_text: On three NTU VIRAL recordings not used to develop the method, Calibrex's
  LiDAR-LiDAR extrinsic is accurate against the dataset's design value and reproduces
  across recordings.
verdict: refuted
achieved_dataset_families:
- ntu_viral
achieved_independent_rig_count: 1
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: calibrex-rotation-vs-design
  required: true
  status: achieved
  observed_value: 0.48941320796430315
  threshold: 1.0
  reason: observed 0.489413207964 meets less_equal 1
  evidence_path: docs/assets/ntu_viral_lidar_lidar_accuracy_benchmark.yaml
  evidence_sha256: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
- requirement_id: calibrex-translation-vs-design
  required: true
  status: achieved
  observed_value: 0.07743372340834102
  threshold: 0.1
  reason: observed 0.0774337234083 meets less_equal 0.1
  evidence_path: docs/assets/ntu_viral_lidar_lidar_accuracy_benchmark.yaml
  evidence_sha256: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
- requirement_id: calibrex-not-worse-than-scan-to-scan
  required: true
  status: contradicted
  observed_value: -0.004785398562469202
  threshold: 0.0
  reason: observed -0.00478539856247 does not meet greater_equal 0
  evidence_path: docs/assets/ntu_viral_lidar_lidar_holdout_benchmark.yaml
  evidence_sha256: 95ab069a92836e6f7938d50da10b43204c3c9f46aa0410c1a525312f5a192121
- requirement_id: calibrex-cross-recording-consistency
  required: true
  status: contradicted
  observed_value: 1.1433287314440082
  threshold: 1.0
  reason: observed 1.14332873144 does not meet less_equal 1
  evidence_path: docs/assets/ntu_viral_lidar_lidar_consistency_benchmark.yaml
  evidence_sha256: 723af6a1d8bec3e914354ba8e747c973ab330e67c644e545ac3a90fd83710ec9
summary: At least one frozen required numerical or integrity gate is contradicted;
  the declared SOTA claim is not supported.
provenance:
  generator: calibrex.evaluation.sota_audit
  generator_version: 0.4.1
  git_commit: f5ab3c2
  command: []
  source_sha256:
    protocol: 4a19b3f92068439043c2371b894f189e677a3ab106431f66c8f0459225eb166a
    calibrex-rotation-vs-design: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
    calibrex-translation-vs-design: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
    calibrex-not-worse-than-scan-to-scan: 95ab069a92836e6f7938d50da10b43204c3c9f46aa0410c1a525312f5a192121
    calibrex-cross-recording-consistency: 723af6a1d8bec3e914354ba8e747c973ab330e67c644e545ac3a90fd83710ec9
  created_at: '2026-10-01T03:18:23.445262+00:00'