schema_version: calibrex.ins_lidar_sota_preregistration/v0.1
protocol_id: ins-lidar-rotation-kitti-boreas-v1
claim_text: On the four pre-registered KITTI raw and Boreas recording windows not
  previously read by Calibrex INS-LiDAR methods, LiDAR-only odometry followed by the
  default native joint trajectory hand-eye fit produces a scorable rotation estimate
  for every recording; every data-estimated rotation axis is within 0.5 deg of its
  dataset-provided reference calibration; at least half of the three rotation axes
  per recording are observed on average in each dataset family; and every observed-axis
  1 deg held-out control is detected with delta chi-square at least 9. Dataset calibrations
  are reference estimates, not independent metrology. No translation, full-extrinsic
  or absolute clock-accuracy claim is made.
scope:
  modalities:
  - ins
  - lidar
  quantities:
  - rotation
  category: trajectory_hand_eye_per_axis
frozen_code_commit: 5cc11d43e313bec6d29f3de5e549493eee594352
metadata:
  kitti_raw:
    path: docs/assets/ins_lidar_sota_readiness/kitti_metadata.json
    sha256: 212bf2d497955fe475cb99583c9e69402e65e3e1b5df230fb3f78e78fcbb78b0
  boreas:
    path: docs/assets/ins_lidar_sota_readiness/boreas_metadata.json
    sha256: d420469ac870ec83fbb94f03c074793f1b8d1941204700a555b60f1ba3450467
evaluation:
- case_id: '2011_09_29_0071'
  dataset_family: kitti_raw
  rig_id: kitti-platform
- case_id: '2011_09_30_0020'
  dataset_family: kitti_raw
  rig_id: kitti-platform
- case_id: '2011_09_30_0027'
  dataset_family: kitti_raw
  rig_id: kitti-platform
- case_id: boreas-2020-12-01-13-26
  dataset_family: boreas
  rig_id: boreas-platform
calibration_archive_sha256:
  '2011_09_29': 260fb836916ac3cbbab7104e253531239a0191b87c411fa60b99178abbb8c40d
  '2011_09_30': 2ed01563b616baec14f25659671bd9a77810bd87752d709d184fe304ff7258e3
thresholds:
  maximum_reference_difference_deg: 0.5
  maximum_unobserved_axis_fraction: 0.5
  maximum_control_miss_fraction: 0.0
  maximum_failed_recording_fraction: 0.0
  minimum_dataset_families: 2
  minimum_independent_rigs: 2
acquisition:
  max_frames: 600
  minimum_free_disk_bytes: 21474836480
  maximum_additional_raw_bytes: 17179869184
  object_attempts: 2
  method_attempts: 1
  method_timeout_seconds: 1800
  boreas_workers: 4
  max_point_object_bytes: 16777216
  max_reference_object_bytes: 134217728
development:
  current_genuine:
    recording: boreas-2020-11-26-13-58
    source_commit: a795fb659cc13f12a803642677be01f7fadb012c
    artifact: docs/assets/ins_lidar_sota_readiness/development/development.yaml
    artifact_sha256: ee4bfa85793eb93225bc89e6db75e4fddf50f1d340ecf52aa3806ec55190a754
    report_sha256: 215f7ae06283da857a6d5f6e15553cb1601cf40811e53be99d3b55ac3c72e4c3
    scores:
      declared_recordings: 1
      recording_completion: 1.0
      axis_coverage: 0.6666666666666666
      estimated_axes: 2
      control_misses: 0
      control_miss_rate: 0.0
      maximum_reference_difference_deg: 0.19184132984568794
    input_scope: First 600 listed scans, reference calibration, first 8 MiB INS CSV
      clipped at last newline; then fixed +/-1s trajectory crop. Complete inputs verified
      before fit.
    failed_attempt: Four disconnected object downloads plus acquisition assertion
      retained in acquisition-failed.json; exact four objects recovered before method;
      no method retry.
    full_artifact_status: inconclusive is expected for unobserved yaw/translation;
      the proposed audit concerns only data-estimated rotation axes.
  historical_genuine:
    artifact: docs/assets/kitti_ins_lidar_2011_09_26.yaml
    artifact_sha256: 75a5b4fda51896ac259ca809ac231a179ca8bfdc55234b0a95b89589c0265402
    source_commit: 5e010f9
    generator_version: 0.4.1
    recordings:
    - 2011_09_26_drive_0005_sync
    - 2011_09_26_drive_0009_sync
    maximum_reference_difference_deg: 0.12438429827378121
    notice: Historical genuine calibration, not a fresh run of the current code. Threshold
      derives from the current Boreas development fit.
  threshold_derivation:
    error: ceil((1.5 * 0.19184132984568794) / 0.25) * 0.25 = 0.5 deg
    coverage: Development 2/3 axes; handoff rounding floor((2/3)/1.5/0.25)*0.25 =
      0.25. We prespecify a stricter 0.5 coverage quality floor in each family.
    controls: Zero misses allowed in these finite declared cases, stricter than the
      handoff binomial allowance. Two development controls cannot establish population
      sensitivity; no future 95% detection claim.
    completion: All four declared recordings must be scorable; failures remain in
      all denominators.
  excluded_synthetic: 2011_09_30_0018 OXTS generated-motion performance controls spend
    the INS reference but provide no independent accuracy/coverage/detection evidence.
exposure:
  complete: true
  evaluation_sensor_objects_read_before_registration: false
  pair: ins-lidar
  spent_kitti:
  - '2011_09_26_0005'
  - '2011_09_26_0009'
  - '2011_09_26_0014'
  - '2011_09_26_0015'
  - '2011_09_26_0022'
  - '2011_09_30_0018'
  spent_boreas:
  - boreas-2020-11-26-13-58
  cross_pair_reads: All three KITTI cases had first-600-frame Velodyne and OXTS read
    by camera-lidar v2; these are disclosed and were not native INS-LiDAR evaluation.
    Selection uses download metadata counts/order, not camera-lidar scores.
  selection: First three chronological archives from the 18-case camera-lidar v2 metadata
    pool having >=600 Velodyne frames and 600 downloaded Velodyne/OXTS frame indices,
    excluding INS-spent data. Boreas first canonical recording is development; next
    is evaluation; third lacks gps_post_process.csv and is retained as ineligible,
    not replaced.
  history: 'git log --all -S for selected raw/case IDs: only camera-lidar v2 preregistration/results
    (8915381d,57f20fba). Boreas occurs only in this development branch. Existing hand-eye/trajectory-control
    problem provenance identifies 2011_09_30_0018 only.'
  odometry_aliases:
    '05': 2011_09_30_0018 (spent)
    '06': '2011_09_30_0020'
    '07': '2011_09_30_0027'
  odometry_mapping_source:
    url: https://s3.eu-central-1.amazonaws.com/avg-kitti/devkit_odometry.zip
    bytes: 16798
    sha256: c4703456de60cdeaaec672381fbe169155ba4c2fcded102335b42cb07ff76758
    scope: Only devkit readme inspected; no odometry sensor or pose archive read.
  other_inputs: Boreas evaluation listing XML only; KITTI HEAD and ZIP central directories
    only during this task. Calibration archive digests reused from camera-lidar registration;
    evaluation calibration bodies not fetched during preparation.
run_recipe:
  options:
    step_frames:
    - 5
    - 10
    - 20
    block_duration_s: 5.0
    holdout_every: 3
    rotation_control_deg: 1.0
    translation_control_m: 0.1
    time_control_s: 0.02
    detection_delta_chi2: 9.0
    holdout_rotation_limit_deg: 0.5
    holdout_translation_limit_m: 0.3
    solver:
      estimate_time_offset: true
      time_offset_bound_s: 0.2
      estimate_reference_scale: true
      reference_scale_bound: 0.1
      rotation_sigma_rad: 0.0017453292519943296
      translation_sigma_floor_m: 0.01
      translation_sigma_per_m: 0.02
      huber_threshold: 1.5
      irls_iterations: 5
      yaw_starts_deg:
      - 0.0
      - 90.0
      - 180.0
      - 270.0
      axis_alignment_start: true
      extra_starts: []
      observable_rotation_std_deg: 0.1
      observable_translation_std_m: 0.02
      observable_time_offset_std_s: 0.005
      observable_reference_scale_std: 0.005
      anchor_sigma: 1000.0
      priors: []
    odometry:
      voxel_size_m: 0.5
      min_range_m: 3.0
      max_range_m: 80.0
      normal_neighbours: 10
      max_planarity_ratio: 0.2
      max_correspondence_m: 1.5
      huber_delta_m: 0.1
      max_iterations: 30
      convergence_translation_m: 0.0001
      convergence_rotation_rad: 1.0e-05
      min_correspondences: 200
      local_map_scans: 1
      deskew_iterations: 1
      geometry_quantum_m: 0.0
      motion_translation_quantum_m: 0.0
      motion_rotation_quantum_rad: 0.0
      query_workers: 1
  max_frames: 600
  kitti_streams:
  - velodyne_points
  - oxts
  kitti_curl_retries: 0
  boreas_reference: Full applanix/gps_post_process.csv, not lidar_poses.csv; crop
    +/-1s around first 600 scans inside adapter.
  odometry: LiDAR-only rigid scans, default registration; no reference/INS prior,
    no per-point deskew.
  runner: python tools/ins_lidar_sota_evaluate.py docs/benchmarks/ins_lidar_rotation_v1_preregistration.yaml
    WORK RUNS
  builder: python tools/build_ins_lidar_sota_audit.py RUNS/run.json docs/benchmarks/ins_lidar_rotation_v1_preregistration.yaml
    AUDIT
  source_guard: Merged main; src/tools identical to frozen code; registration on main;
    no dirty source; metadata and all inputs digest checked.
  retry_policy: At most two transport attempts per Boreas object or whole KITTI fetch,
    only for external transport/OS failures. KITTI curl internal retries are disabled;
    HTTP rejection is terminal for a KITTI fetch. Identity/ETag/SHA/budget/scoring/algorithm
    failures are not retryable, including on resume. Boreas partial objects and every
    failed object/fetch attempt record are kept. Each method executes at most once;
    failure, timeout or interrupted RUNNING consumes the attempt. No replacement recordings.
  publication: Retain every declared case and failed attempt; publish supported, refuted
    or incomplete. No gate changes or selective reruns.
  resource_policy: At most 16 GiB additional raw bytes even with two attempts; require
    20 GiB free at each recording acquisition; no GPU requirement or performance claim.
provenance:
  generator: outputs/prepare-ins-sota-registration.py
  generator_sha256: 603e2c5620ea152bf7b20fdb137b2884dc3e2c85746addcda9c78b466b744469
  source_commit: 5cc11d43e313bec6d29f3de5e549493eee594352
  created_at: '2026-10-22T10:53:19.716729+00:00'
  development_files_sha256:
    development.yaml: ee4bfa85793eb93225bc89e6db75e4fddf50f1d340ecf52aa3806ec55190a754
    report.json: 215f7ae06283da857a6d5f6e15553cb1601cf40811e53be99d3b55ac3c72e4c3
    acquisition-failed.json: be84b455b919a2312ccf4452a436db7763afc220ebacc4cf388ff154a5a8d23d
    acquisition-recovered.json: dad6cf04596c52f3ac02ad18b185a9cdcaafcf102e5634fa1e497caaf4fdb6cf
    recovery.json: c599484389bfe8bd4d4ed6ef9e402f983314c7ccb2cc89eaa45c5ffc239378c5
    run-source.py.txt: 045b5662665603ea241f6ebc62bc9aba01f0f6f9ee9e14da032d2476027846ea
  notice: Pre-registration, not an evaluation result. Must be merged before evaluation
    reads any sensor input.