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@@ -58,3 +58,7 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+sessions/2026-10-17_fieldC_run2/side/depth.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/2026-10-17_fieldC_run5/side/depth.mkv filter=lfs diff=lfs merge=lfs -text
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+sessions/2026-10-18_fieldD_run1/side/depth.mkv filter=lfs diff=lfs merge=lfs -text

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calibration/845112071331_factory.json

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+}

calibration/902512070232_factory.json

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+ "depth_scale_m": 0.0010000000474974513,
+ "depth_to_color": {
+  "rotation": [
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+ },
+ "file": "cam_902512070232.db3"
+}

calibration/camera_to_lidar.json

@@ -0,0 +1,869 @@
+{
+ "convention": "p_lidar = R @ p_camera + t; camera optical frame x right, y down, z forward (colour sensor); Mid-360 frame x right, y forward, z up; metres",
+ "cameras": {
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+   "angle_from_square_mount_deg": 1.113,
+   "uncertainty": "rotation: run-to-run repeatability about 0.2 deg (not an independently validated accuracy); the rotation from the other eight runs beats solved_v1 on every run (held out); translation: tape and Oct 23 photo, about 1 cm, a prior rather than a measured uncertainty",
+   "per_run": [
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+   ],
+   "depth_note": "repeatable cross-sensor depth discrepancy: the D435i optical-axis depth reads short of the LiDAR Z in the same frame, more so with distance (see depth_relation_held_out); cause not established, no correction applied; raw depth files are as recorded",
+   "depth_relation_held_out": [
+    {
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+      "2.5-4.0 m": 0.8897
+     }
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+    {
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+     }
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+  "side": {
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+   "angle_from_square_mount_deg": 1.178,
+   "uncertainty": "rotation: run-to-run repeatability about 0.2 deg (not an independently validated accuracy); the rotation from the other eight runs beats solved_v1 on every run (held out); translation: tape and Oct 23 photo, about 1 cm, a prior rather than a measured uncertainty",
+   "per_run": [
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+     "rotation_from_solved_v1_deg": [
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+   "depth_note": "repeatable cross-sensor depth discrepancy: the D435i optical-axis depth reads short of the LiDAR Z in the same frame, more so with distance (see depth_relation_held_out); cause not established, no correction applied; raw depth files are as recorded",
+   "depth_relation_held_out": [
+    {
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+      "2.5-4.0 m": 0.9644
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+    {
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+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 0.9977,
+      "0.75-1.5 m": 0.976,
+      "1.5-2.5 m": 0.9667,
+      "2.5-4.0 m": 0.9506
+     }
+    },
+    {
+     "session": "2026-10-17_fieldC_run1",
+     "a": 0.9615,
+     "b_m": 0.0169,
+     "kept_share": 0.521,
+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 0.9982,
+      "0.75-1.5 m": 0.9786,
+      "1.5-2.5 m": 0.9728,
+      "2.5-4.0 m": 0.9596
+     }
+    },
+    {
+     "session": "2026-10-17_fieldC_run2",
+     "a": 0.9634,
+     "b_m": 0.0157,
+     "kept_share": 0.397,
+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 1.0018,
+      "0.75-1.5 m": 0.9794,
+      "1.5-2.5 m": 0.9726,
+      "2.5-4.0 m": 0.9553
+     }
+    },
+    {
+     "session": "2026-10-17_fieldC_run3",
+     "a": 0.9609,
+     "b_m": 0.0198,
+     "kept_share": 0.482,
+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 1.0037,
+      "0.75-1.5 m": 0.9819,
+      "1.5-2.5 m": 0.9725,
+      "2.5-4.0 m": 0.9552
+     }
+    },
+    {
+     "session": "2026-10-17_fieldC_run5",
+     "a": 0.9633,
+     "b_m": 0.0184,
+     "kept_share": 0.485,
+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 1.0036,
+      "0.75-1.5 m": 0.983,
+      "1.5-2.5 m": 0.977,
+      "2.5-4.0 m": 0.9608
+     }
+    },
+    {
+     "session": "2026-10-18_fieldD_run1",
+     "a": 0.9642,
+     "b_m": 0.0156,
+     "kept_share": 0.541,
+     "median_D_over_Z_by_distance": {
+      "0.3-0.75 m": 1.0033,
+      "0.75-1.5 m": 0.9811,
+      "1.5-2.5 m": 0.9717,
+      "2.5-4.0 m": 0.9708
+     }
+    }
+   ]
+  }
+ }
+}

calibration/depth_correction_v1.json

@@ -0,0 +1,138 @@
+{
+ "what": "D435i depth correction, disparity model: 1 / Z = s / D + c (D the recorded depth in metres, optical-axis Z), fitted on metric checkerboard planes (pose from the colour image and the printed square size only) of the home and driveway sessions; tested on held-out field B and field A boards and on the nine field runs against the LiDAR",
+ "apply": "Z = 1 / (s / D + c) for D > 0; leave D = 0 (no depth) as is; use only inside valid_z_m",
+ "cameras": {
+  "front": {
+   "serial": "845112071331",
+   "s": 0.98782,
+   "c_per_m": -0.0532,
+   "valid_z_m": [
+    0.3,
+    2.5
+   ],
+   "board_fit": {
+    "calibration_median_abs_rel_err": 0.0076,
+    "held_out_boards_median_abs_rel_err": 0.0155,
+    "raw_held_out_boards_median_abs_rel_err": 0.0805
+   },
+   "field_runs_vs_lidar": {
+    "median_abs_rel_err_raw": 0.0663,
+    "median_abs_rel_err_corrected": 0.0212,
+    "ratio_range_by_distance_raw": {
+     "0.3-0.75 m": [
+      0.9562,
+      0.9688
+     ],
+     "0.75-1.5 m": [
+      0.9372,
+      0.9417
+     ],
+     "1.5-2.5 m": [
+      0.9063,
+      0.9162
+     ],
+     "2.5-4.0 m": [
+      0.8741,
+      0.8907
+     ]
+    },
+    "ratio_range_by_distance_corrected": {
+     "0.3-0.75 m": [
+      0.9997,
+      1.0124
+     ],
+     "0.75-1.5 m": [
+      1.0028,
+      1.008
+     ],
+     "1.5-2.5 m": [
+      1.0102,
+      1.0242
+     ],
+     "2.5-4.0 m": [
+      1.0318,
+      1.0609
+     ]
+    }
+   },
+   "note": "outside valid_z_m the corrected depth is not validated (the boards reached 2.8 m with few holds)"
+  },
+  "side": {
+   "serial": "902512070232",
+   "s": 1.00041,
+   "c_per_m": -0.01561,
+   "valid_z_m": [
+    0.3,
+    4.0
+   ],
+   "board_fit": {
+    "calibration_median_abs_rel_err": 0.0043,
+    "held_out_boards_median_abs_rel_err": 0.0025,
+    "raw_held_out_boards_median_abs_rel_err": 0.0177
+   },
+   "field_runs_vs_lidar": {
+    "median_abs_rel_err_raw": 0.0225,
+    "median_abs_rel_err_corrected": 0.016,
+    "ratio_range_by_distance_raw": {
+     "0.3-0.75 m": [
+      0.9912,
+      1.0052
+     ],
+     "0.75-1.5 m": [
+      0.9733,
+      0.983
+     ],
+     "1.5-2.5 m": [
+      0.9638,
+      0.977
+     ],
+     "2.5-4.0 m": [
+      0.9425,
+      0.9708
+     ]
+    },
+    "ratio_range_by_distance_corrected": {
+     "0.3-0.75 m": [
+      0.9979,
+      1.0113
+     ],
+     "0.75-1.5 m": [
+      0.9892,
+      0.9993
+     ],
+     "1.5-2.5 m": [
+      0.991,
+      1.0047
+     ],
+     "2.5-4.0 m": [
+      0.9812,
+      1.0118
+     ]
+    }
+   },
+   "note": "outside valid_z_m the corrected depth is not validated (the boards reached 2.8 m with few holds)"
+  }
+ },
+ "sources_sha256": {
+  "depth_correction_fit_v2.json": "768805cdd91a564fa370572ff865367675c257bde9db97d552d73fd1d9b44bbe",
+  "2026-10-11_fieldA_run1_front.json": "5d6573560f0a3d98dbfa96554d4816356cb9cdbbf896b3f485c95d366a132578",
+  "2026-10-11_fieldA_run2_front.json": "74331e70acdce3edb884a1df1eb8c18dd2fba6c03061644d4c328a07cae6bc48",
+  "2026-10-16_fieldB_run1_front.json": "3ae8ea4631a8a85b34a5127bd8f7679e941548dbe04deabd882c12ff9a79d687",
+  "2026-10-16_fieldB_run2_front.json": "9a8dc060d55426797d1983ee5ab58a35a21730503645081cdc26fb5292c85423",
+  "2026-10-17_fieldC_run1_front.json": "b2fd6c644f68ee8d4558b852b667423874c61e0ed21c69c53b2a2a946283e572",
+  "2026-10-17_fieldC_run2_front.json": "81ce2d2cd2c3fb2466ce73c3526f6fd931b0339f4d71a1cefd9cad8e589db06a",
+  "2026-10-17_fieldC_run3_front.json": "6d167aaa82a780055ef4761e44d6c6a350090d56ac33616fd73104e9c5981c80",
+  "2026-10-17_fieldC_run5_front.json": "1118666bc018661ca69e4883bb6a4a2a6c95c3b24518b240e2efb29c79216a2f",
+  "2026-10-18_fieldD_run1_front.json": "b91e960f9daf4c98fb33a469996d50ff7b66e97ea231551c237bc17fb030e3a7",
+  "2026-10-11_fieldA_run1_side.json": "b22bf6db25f6ddd9d0ed287b66cc7918030c184ba1e43cc28fda6fb4181a3e06",
+  "2026-10-11_fieldA_run2_side.json": "6e0225fa36ca26410b14d519debb589cae256b5ebda77f6414d17f7363dd0409",
+  "2026-10-16_fieldB_run1_side.json": "fdf104f95879039ec9dad7ed149ad37c0dd22959ddefd04b0c644b1b621571ca",
+  "2026-10-16_fieldB_run2_side.json": "0d2599bb206d1e4ab28096803d2e1a8a5e6db3d55e76a726b752743354aaa6a5",
+  "2026-10-17_fieldC_run1_side.json": "394efc0c25e0acc98457d55bf68d95be1c0ad3ac87dd1b96a1c9c548c23858f9",
+  "2026-10-17_fieldC_run2_side.json": "1e6b811080518b6d5ab2ab37764676d10513a34fe94a48c07862afc56a1b9960",
+  "2026-10-17_fieldC_run3_side.json": "7e10f59a20f985c6500f7e7ed9f41b8b5dee941138f7001df2bc854dccf87c84",
+  "2026-10-17_fieldC_run5_side.json": "042a43247f84dfe9abdb1b3dedfb1ee6ecee434a504e79ee7f21f027ad4409ab",
+  "2026-10-18_fieldD_run1_side.json": "7af47af7ebff2e808e2c0b7ff3129a316039ce557b2f99aab87d7e7df7dae4e5"
+ },
+ "code_sha256": "ebb8740f19dbbb94b3580489644e99825f78c59b66b42aa260657412b7bbb92e"
+}

calibration/imu_noise.json

@@ -0,0 +1,71 @@
+{
+ "what": "Mid-360 built-in IMU noise, overlapping Allan deviation of a 3 h still recording (Oct 23)",
+ "rate_hz": 200.0,
+ "stretch_s": 7062.0,
+ "axes": {
+  "gx": {
+   "mean": 2.098084621631139,
+   "std": 0.1453985099198997,
+   "adev_at_1s": 0.004968962019556436,
+   "adev_min": 0.0025679796016712976,
+   "tau_min_s": 9.695847941719254,
+   "bias_instability": 0.0038674391591435203,
+   "arw_deg_per_sqrt_h": 0.29813772117338616,
+   "units": "deg/s",
+   "bias_instability_deg_per_h": 13.922780972916673
+  },
+  "gy": {
+   "mean": -0.1553490428921722,
+   "std": 0.045547123640386815,
+   "adev_at_1s": 0.0036518620977319103,
+   "adev_min": 0.0007218067367254562,
+   "tau_min_s": 65.49271001840114,
+   "bias_instability": 0.001087058338441952,
+   "arw_deg_per_sqrt_h": 0.2191117258639146,
+   "units": "deg/s",
+   "bias_instability_deg_per_h": 3.9134100183910276
+  },
+  "gz": {
+   "mean": 2.4623829347504493,
+   "std": 0.08028368673320417,
+   "adev_at_1s": 0.004439979845675565,
+   "adev_min": 0.0016678324419075166,
+   "tau_min_s": 20.817504256237356,
+   "bias_instability": 0.00251179584624626,
+   "arw_deg_per_sqrt_h": 0.2663987907405339,
+   "units": "deg/s",
+   "bias_instability_deg_per_h": 9.042465046486535
+  },
+  "ax": {
+   "mean": 13.370344927848437,
+   "std": 3.1590170616420252,
+   "adev_at_1s": 0.0591056325043528,
+   "adev_min": 0.012273233235256103,
+   "tau_min_s": 95.96533739807222,
+   "bias_instability": 0.018483784992855575,
+   "vrw_m_s_per_sqrt_h": 0.034777695059928684,
+   "units": "mg"
+  },
+  "ay": {
+   "mean": 7.330792176613825,
+   "std": 4.346457264768525,
+   "adev_at_1s": 0.0676835288063118,
+   "adev_min": 0.00836099511153347,
+   "tau_min_s": 95.96533739807222,
+   "bias_instability": 0.012591860107731128,
+   "vrw_m_s_per_sqrt_h": 0.03982492066610505,
+   "units": "mg"
+  },
+  "az": {
+   "mean": 991.825891205614,
+   "std": 2.2822772171818384,
+   "adev_at_1s": 0.05433751599736953,
+   "adev_min": 0.019881840496934578,
+   "tau_min_s": 95.96533739807222,
+   "bias_instability": 0.029942530868877375,
+   "vrw_m_s_per_sqrt_h": 0.03197214007533623,
+   "units": "mg"
+  }
+ },
+ "note": "large constant gyro biases (about 2.1 and 2.5 deg/s on x and z) must be estimated; the accelerometer reads gravity about 0.8 % low"
+}

calibration/intrinsics_845112071331.json

@@ -0,0 +1,42 @@
+{
+ "camera": "front",
+ "serial": "845112071331",
+ "stream": "colour 640 x 480",
+ "model": "pinhole with radial and tangential distortion k1 k2 p1 p2 (OpenCV order, Brown-Conrady)",
+ "fx": 614.9354228991989,
+ "fy": 614.9954471857525,
+ "cx": 314.1569519042969,
+ "cy": 239.00279235839844,
+ "dist_k1_k2_p1_p2": [
+  0.09830485223226998,
+  -0.1869669929815629,
+  -0.0032161622988268832,
+  -0.002259697297879376,
+  0.0
+ ],
+ "fit": {
+  "views": 138,
+  "rms_px": 0.30497344376984803,
+  "bootstrap_sd": {
+   "fx": 3.2872337857509217,
+   "fy": 3.2875546549924324,
+   "cx": 0.0,
+   "cy": 0.0,
+   "k1": 0.008119214970921905,
+   "k2": 0.025991140797470152,
+   "p1": 0.0008805300894857817,
+   "p2": 0.0003914856032598181,
+   "k3": 0.0
+  },
+  "holdout_rms_px_fitted": 0.3088756248354912,
+  "holdout_rms_px_factory": 0.3228185519576073
+ },
+ "principal_point": "factory value kept (not resolved by the board views)",
+ "factory": {
+  "fx": 616.5374755859375,
+  "fy": 616.59765625,
+  "cx": 314.1569519042969,
+  "cy": 239.00279235839844
+ },
+ "method": "pooled checkerboard sessions (Oct 11 to 26), still views, near duplicates merged, one outlier pass"
+}

calibration/intrinsics_902512070232.json

@@ -0,0 +1,42 @@
+{
+ "camera": "side",
+ "serial": "902512070232",
+ "stream": "colour 640 x 480",
+ "model": "pinhole with radial and tangential distortion k1 k2 p1 p2 (OpenCV order, Brown-Conrady)",
+ "fx": 602.3087915666354,
+ "fy": 602.7874013830431,
+ "cx": 309.4621276855469,
+ "cy": 248.64813232421875,
+ "dist_k1_k2_p1_p2": [
+  0.13130346917481883,
+  -0.35381411372742505,
+  0.0016854556790474066,
+  0.0008978799477173244,
+  0.0
+ ],
+ "fit": {
+  "views": 114,
+  "rms_px": 0.34913509638603546,
+  "bootstrap_sd": {
+   "fx": 5.335010384655206,
+   "fy": 5.33924971899082,
+   "cx": 0.0,
+   "cy": 0.0,
+   "k1": 0.01234615328791439,
+   "k2": 0.03548847971285684,
+   "p1": 0.000790268595708833,
+   "p2": 0.0007893632384807972,
+   "k3": 0.0
+  },
+  "holdout_rms_px_fitted": 0.35144681483507156,
+  "holdout_rms_px_factory": 0.369226923584938
+ },
+ "principal_point": "factory value kept (not resolved by the board views)",
+ "factory": {
+  "fx": 613.4813232421875,
+  "fy": 613.9688110351562,
+  "cx": 309.4621276855469,
+  "cy": 248.64813232421875
+ },
+ "method": "pooled checkerboard sessions (Oct 11 to 26), still views, near duplicates merged, one outlier pass"
+}

calibration/kinematics.json

@@ -0,0 +1,139 @@
+{
+ "what": "track scale on soil against RTK and effective track width per run",
+ "concrete_m_per_sprocket_revolution": 0.57,
+ "edges_per_revolution": 1224,
+ "rtk_lag_after_encoders_ms": 50,
+ "reliable_channels": [
+  "fl",
+  "rr"
+ ],
+ "runs": [
+  {
+   "session": "2026-10-11_fieldA_run1",
+   "rtk_fixed_share": 0.0,
+   "samples_straight": 0,
+   "ratio_rtk_over_tracks": null,
+   "m_per_rev_soil": null,
+   "samples_turning": 4388,
+   "b_eff_m": 0.4571,
+   "b_eff_corr": 0.9909,
+   "b_eff_resid_rms_m_s": 0.034
+  },
+  {
+   "session": "2026-10-11_fieldA_run2",
+   "rtk_fixed_share": 0.0,
+   "samples_straight": 0,
+   "ratio_rtk_over_tracks": null,
+   "m_per_rev_soil": null,
+   "samples_turning": 1934,
+   "b_eff_m": 0.4624,
+   "b_eff_corr": 0.9963,
+   "b_eff_resid_rms_m_s": 0.0239
+  },
+  {
+   "session": "2026-10-16_fieldB_run1",
+   "rtk_fixed_share": 0.934,
+   "samples_straight": 764,
+   "ratio_rtk_over_tracks": 0.9624,
+   "ratio_p25_p75": [
+    0.8759,
+    1.0427
+   ],
+   "m_per_rev_soil": 0.5486,
+   "samples_turning": 3585,
+   "b_eff_m": 0.4441,
+   "b_eff_corr": 0.9961,
+   "b_eff_resid_rms_m_s": 0.0214
+  },
+  {
+   "session": "2026-10-16_fieldB_run2",
+   "rtk_fixed_share": 0.786,
+   "samples_straight": 1640,
+   "ratio_rtk_over_tracks": 0.9789,
+   "ratio_p25_p75": [
+    0.9031,
+    1.0643
+   ],
+   "m_per_rev_soil": 0.558,
+   "samples_turning": 7238,
+   "b_eff_m": 0.4473,
+   "b_eff_corr": 0.9967,
+   "b_eff_resid_rms_m_s": 0.0213
+  },
+  {
+   "session": "2026-10-17_fieldC_run1",
+   "rtk_fixed_share": 0.92,
+   "samples_straight": 2616,
+   "ratio_rtk_over_tracks": 0.9991,
+   "ratio_p25_p75": [
+    0.9497,
+    1.0407
+   ],
+   "m_per_rev_soil": 0.5695,
+   "samples_turning": 5932,
+   "b_eff_m": 0.4545,
+   "b_eff_corr": 0.9957,
+   "b_eff_resid_rms_m_s": 0.0191
+  },
+  {
+   "session": "2026-10-17_fieldC_run2",
+   "rtk_fixed_share": 0.909,
+   "samples_straight": 3259,
+   "ratio_rtk_over_tracks": 0.9999,
+   "ratio_p25_p75": [
+    0.9548,
+    1.041
+   ],
+   "m_per_rev_soil": 0.5699,
+   "samples_turning": 10895,
+   "b_eff_m": 0.4659,
+   "b_eff_corr": 0.9823,
+   "b_eff_resid_rms_m_s": 0.0338
+  },
+  {
+   "session": "2026-10-17_fieldC_run3",
+   "rtk_fixed_share": 0.882,
+   "samples_straight": 1117,
+   "ratio_rtk_over_tracks": 0.9938,
+   "ratio_p25_p75": [
+    0.9359,
+    1.041
+   ],
+   "m_per_rev_soil": 0.5665,
+   "samples_turning": 4793,
+   "b_eff_m": 0.4757,
+   "b_eff_corr": 0.9854,
+   "b_eff_resid_rms_m_s": 0.0502
+  },
+  {
+   "session": "2026-10-17_fieldC_run5",
+   "rtk_fixed_share": 0.214,
+   "samples_straight": 477,
+   "ratio_rtk_over_tracks": 1.0095,
+   "ratio_p25_p75": [
+    0.9715,
+    1.0339
+   ],
+   "m_per_rev_soil": 0.5754,
+   "samples_turning": 5636,
+   "b_eff_m": 0.4672,
+   "b_eff_corr": 0.9773,
+   "b_eff_resid_rms_m_s": 0.047
+  },
+  {
+   "session": "2026-10-18_fieldD_run1",
+   "rtk_fixed_share": 0.247,
+   "samples_straight": 873,
+   "ratio_rtk_over_tracks": 0.9991,
+   "ratio_p25_p75": [
+    0.9648,
+    1.0301
+   ],
+   "m_per_rev_soil": 0.5695,
+   "samples_turning": 9406,
+   "b_eff_m": 0.4722,
+   "b_eff_corr": 0.9882,
+   "b_eff_resid_rms_m_s": 0.0458
+  }
+ ]
+}

calibration/time_offsets.csv

@@ -0,0 +1,19 @@
+session,camera,offset_ms_camera_minus_lidar,signal,corr,bootstrap_p5_ms,bootstrap_p95_ms
+2026-10-11_fieldA_run1,front,-19,horizontal_vs_yaw,0.952,-20.0,-18.950000000000003
+2026-10-11_fieldA_run1,side,-18,vertical_vs_roll,-0.858,-19.0,-17.0
+2026-10-11_fieldA_run2,front,-12,horizontal_vs_yaw,0.947,-13.0,-11.0
+2026-10-11_fieldA_run2,side,-12,vertical_vs_roll,-0.771,-14.0,-11.0
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