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:
- 0.05172219412812236
- -0.002250435408956204
- 0.0423019471726851
time_offset_s: -0.023825094271023847
dofs:
- name: x
  unit: m
  value: 0.05172219412812236
  std_analytic: 0.003991413900116079
  std_jackknife: 0.009924167359588114
  std_reported: 0.009924167359588114
  status: estimated
  reference_value: 0.034
  error_to_reference: 0.017722194128122357
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 221.1809968520447
    detected: true
- name: y
  unit: m
  value: -0.002250435408956204
  std_analytic: 0.0028806096033372995
  std_jackknife: 0.005031942279523519
  std_reported: 0.005031942279523519
  status: estimated
  reference_value: 0.0
  error_to_reference: -0.002250435408956204
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 77.61685741589963
    detected: true
- name: z
  unit: m
  value: 0.0423019471726851
  std_analytic: 0.006986733424783829
  std_jackknife: 0.04002539799113829
  std_reported: 0.04002539799113829
  status: unobservable
  reference_value: 0.046
  error_to_reference: -0.0036980528273148974
  known_bad_control:
    amount: 0.05
    unit: m
    holdout_delta_chi2: 33.35920983731285
    detected: true
- name: time_offset
  unit: s
  value: -0.023825094271023847
  std_analytic: 0.001240820184441427
  std_jackknife: 0.012037777066427049
  std_reported: 0.012037777066427049
  status: unobservable
  known_bad_control:
    amount: 0.02
    unit: s
    holdout_delta_chi2: 5.963289091898787
    detected: false
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: 9216
  scans_in_gnss_coverage: 3462
  odometry_segments: 4
  unreliable_registrations: 1
  windows: 38
  gnss_epochs_used: 3541
  gnss_epochs_rejected: 5227
train_windows: 25
holdout_windows: 13
jackknife_fits: 8
holdout_median_residual_m: 0.02731130305442183
train_median_residual_m: 0.027713884923582725
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_seq2
  dataset_family: rtk_slam
  sequence_ids:
  - stadtgarten_seq2
  input_sha256: afcc1ec2805a5107c4b452ca6525b1dd88419eae9331b4d620d0cd177b5497b8
  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: '2026-09-29T12:48:57.983019+00:00'