schema_version: slac.sota_audit_protocol/v0.1
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.
minimum_dataset_families: 1
minimum_independent_rigs: 1
requirements:
- requirement_id: calibrex-rotation-vs-design
  phase: audit
  description: Calibrex rotation error to the design value <= 1.0 deg
  dataset_family: ntu_viral
  independent_rig: true
  rig_id: ntu-viral-uav
  evidence_path: ntu_viral_lidar_lidar_accuracy_benchmark.yaml
  evidence_sha256: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
  method_id: calibrex_map
  metric: rotation_error_deg
  statistic: metric_mean
  comparison: less_equal
  threshold: 1.0
  required: true
- requirement_id: calibrex-translation-vs-design
  phase: audit
  description: Calibrex translation error to the design value <= 0.10 m
  dataset_family: ntu_viral
  independent_rig: false
  evidence_path: ntu_viral_lidar_lidar_accuracy_benchmark.yaml
  evidence_sha256: a98047928eb762d93c5e67911019b6d7dcfabc8e9bb56b80e7b327014a48d4f4
  method_id: calibrex_map
  metric: translation_error_m
  statistic: metric_mean
  comparison: less_equal
  threshold: 0.1
  required: true
- requirement_id: calibrex-not-worse-than-scan-to-scan
  phase: audit
  description: paired 95 % CI lower bound of the improvement over scan_to_scan >=
    0
  dataset_family: ntu_viral
  independent_rig: false
  evidence_path: ntu_viral_lidar_lidar_holdout_benchmark.yaml
  evidence_sha256: 95ab069a92836e6f7938d50da10b43204c3c9f46aa0410c1a525312f5a192121
  method_id: calibrex_map
  reference_method_id: scan_to_scan
  metric: holdout_block_chi2
  statistic: paired_improvement_ci95_low
  comparison: greater_equal
  threshold: 0.0
  required: true
- requirement_id: calibrex-cross-recording-consistency
  phase: audit
  description: Calibrex cross-recording consistency <= 1.0
  dataset_family: ntu_viral
  independent_rig: false
  evidence_path: ntu_viral_lidar_lidar_consistency_benchmark.yaml
  evidence_sha256: 723af6a1d8bec3e914354ba8e747c973ab330e67c644e545ac3a90fd83710ec9
  method_id: calibrex_map
  metric: cross_recording_consistency
  statistic: metric_mean
  comparison: less_equal
  threshold: 1.0
  required: true
provenance:
  generator: tools/build_ntu_lidar_lidar_audit.py
  generator_version: 0.4.1
  command:
  - python
  - tools/build_ntu_lidar_lidar_audit.py
  - docs/assets/ntu_viral_lidar_lidar/scores.json
  - docs/assets
  source_sha256:
    preregistration: b44bcc2c9cda88fc15951880224fb9755def6e9eb1528de990521c356233776e
    scores: 2aa67aeea63e64ebb7adaf5ced831fb20c3d9ce8a8c86e386c9e2bdbb0f52363
  created_at: '2026-10-01T03:18:23.166846+00:00'