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      "claim_text": "On four Hilti 2022 recordings not used to develop the method, Calibrex's targetless camera-IMU rotation for the two forward cameras agrees with Kalibr within 1.0 deg and 0.5 ms, is constrained on all three axes, reproduces across recordings within 0.75 deg, and reproduces Kalibr's cam0-to-cam1 rotation within 0.5 deg.",
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      "claim_text": "On two hand-held MID360 recordings of the RTK-SLAM dataset not used to develop the method, Calibrex's full IMU-LiDAR extrinsic predicts held-out accelerometer-integrated motion at least as well as LI-Init's, and so does its lever arm alone.",
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      "claim_text": "On a hand-held MID360 recording of the RTK-SLAM dataset not used to develop the method (construction_seq2), Calibrex's full IMU-LiDAR extrinsic with the per-segment-gravity lever arm predicts held-out accelerometer-integrated motion at least as well as LI-Init's, and so does its lever arm alone.",
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      "claim_text": "On two MID360 recordings from two dataset families, Calibrex's IMU-LiDAR rotation calibration fits held-out data at least as well as LI-Init, and returns an estimate wherever LI-Init returns one.",
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      "claim_text": "On eight KITTI raw drives not used to develop the method, Calibrex's motion-only LiDAR-to-vehicle rotation fits held-out LiDAR motion at least as well as KITTI's calib_imu_to_velo, and its pitch and yaw agree with an independent vehicle frame from the OXTS body-frame velocities.",
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