schema_version: slac.gnss_lidar_lever_arm/v0.1
method: windowed_variable_projection/v0.1
solver_status: converged
policy_status: inconclusive
policy_reasons:
- 'not constrained by the data, so not calibrated: z, time_offset'
calibrated_dofs:
- x
- y
lever_arm_frame: lidar
lever_arm_m:
- 0.050597244267651095
- -0.012514949162103604
- 0.07555845478206626
time_offset_s: -0.006619438785666401
dofs:
- name: x
  unit: m
  value: 0.050597244267651095
  std_analytic: 0.003038568040316463
  std_jackknife: 0.007049435987555465
  std_reported: 0.007049435987555465
  status: estimated
  reference_value: 0.034
  error_to_reference: 0.016597244267651093
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 247.98827869006618
    detected: true
- name: y
  unit: m
  value: -0.012514949162103604
  std_analytic: 0.0020535732536978496
  std_jackknife: 0.008824384903320298
  std_reported: 0.008824384903320298
  status: estimated
  reference_value: 0.0
  error_to_reference: -0.012514949162103604
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 278.2935229224131
    detected: true
- name: z
  unit: m
  value: 0.07555845478206626
  std_analytic: 0.005076523913694681
  std_jackknife: 0.012646981992429359
  std_reported: 0.012646981992429359
  status: unobservable
  reference_value: 0.046
  error_to_reference: 0.029558454782066257
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 130.1704586316282
    detected: true
- name: time_offset
  unit: s
  value: -0.006619438785666401
  std_analytic: 0.0009523614119814888
  std_jackknife: 0.009154401536998258
  std_reported: 0.009154401536998258
  status: unobservable
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: 231.65965083638912
    detected: true
options:
  window_duration_s: 10.0
  holdout_every: 3
  jackknife_groups: 8
  lever_arm_control_m: 0.05
  time_control_s: 0.02
  detection_delta_chi2: 9.0
  pair_steps:
  - 5
  - 10
  - 20
  odometry_pose_sigma_m: 0.01
  odometry_sigma_per_m: 0.01
  observable_translation_std_m: 0.01
  observable_time_offset_std_s: 0.005
  local_map_scans: 5
  voxel_size_m: 0.3
segments:
  scans_read: 15795
  scans_in_gnss_coverage: 8518
  odometry_segments: 11
  unreliable_registrations: 2
  windows: 89
  gnss_epochs_used: 8720
  gnss_epochs_rejected: 7308
train_windows: 59
holdout_windows: 30
jackknife_fits: 8
holdout_median_residual_m: 0.028228868706289302
train_median_residual_m: 0.029040192538051672
reference: 'calib.yaml: MID360 manual IMU position + CAD GNSS antenna offset'
limitations:
- The reference lever arm combines the MID360 manual IMU position with a CAD antenna
  offset; it is not metrology.
- Only RTK-fixed epochs are used, so GNSS-degraded stretches of each sequence contribute
  no windows.
- LiDAR odometry has no gravity or absolute heading; each window's alignment to ENU
  is estimated and profiled out.
- The clock offset is observable only through velocity changes within a window; steady
  motion leaves it weakly constrained.
provenance:
  generator: calibrex.evaluation.gnss_lidar_lever_arm
  generator_version: 0.4.1
  git_commit: b9858c1
  command:
  - calibrex
  - gnss-lidar
  - rtk-slam
  - stadtgarten_seq1
  dataset_family: rtk_slam
  sequence_ids:
  - stadtgarten_seq1
  input_sha256: 64c30e1c533168378e614aa21b6504353ee97bd4e59d05e9198f477da4b419d2
  input_digest_scope: rtk.txt, calib.yaml, and 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: '2026-09-29T12:37:18.195711+00:00'