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LiDAR-IMU Time-Offset and Yaw-Extrinsic Calibration

  • Task ID: robotics.lidar_imu_time_offset_yaw_calibration
  • Domain: robotics
  • Subdomain: lidar_imu_calibration_state_estimation
  • Status: final
  • Benchmark set: seed42 (60 tasks)
  • Tags: lidar_imu_calibration, time_offset, yaw_extrinsic, gyro_bias, observability, scan_matching, state_estimation

Runtime and requirements

  • Estimated time: 15-60 minutes
  • Python: >=3.10
  • Packages: numpy>=1.24.0, scipy>=1.10.0, matplotlib>=3.7.0
  • GPU required: no
  • Network required: no

Public input and output contract

Inputs

  • imu_gyro.csv (data): High-rate IMU z-axis angular velocity with columns imu_time_s, omega_z_rad_s.
  • lidar_scan_matches.csv (data): LiDAR scan-matching relative transforms with columns scan_id, t0_lidar_s, t1_lidar_s, dx_lidar_m, dy_lidar_m, dyaw_lidar_rad, sigma_trans_m, sigma_yaw_rad, split.
  • segment_windows.csv (data): Time windows for reporting excitation/observability, columns segment_id, t0_lidar_s, t1_lidar_s.
  • task_info.json (data): Sensor convention, required output schema, and nominal noise/vehicle-motion notes.

Outputs

  • analysis.py (code): Agent implementation.
  • calibration.csv (data): One-row calibration result with columns gyro_bias_rad_s,time_offset_s,yaw_extrinsic_rad.
  • observability.csv (data): One row per segment with columns segment_id,observability_score.
  • residuals.csv (data): One row per held-out scan match with columns scan_id,residual_yaw_rad,residual_trans_m.
  • calibration_diagnostics.png (figure): Diagnostic plot of alignment/residuals and segment observability.
  • metrics.json (data): Agent-computed diagnostic metrics and settings.

Public repository files

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Provenance

This task is included in the current seed42 benchmark set at dataset revision f11a199f71fb4b854ac43a1bf548d5df519141a9.

This page is generated only from files tracked in the public ASI-Bench repository at commit c9c1ba960854. Submission bundles, run logs, private scoring configuration, and private reference answers are not read by this page generator.