{
  "keyframe_min_rot_deg": 5.0,
  "keyframe_min_trans_m": 0.02,
  "max_keyframes": 200,
  "pairing": "consecutive",
  "time_offset_estimator": "angular-speed cross-correlation (window 0.1 s, grid 500 Hz, parabolic sub-sample refinement)",
  "solvers": {
    "tsai_lenz": "Tsai & Lenz 1989 (AX=XB, separable)",
    "park_martin": "Park & Martin 1994 (AX=XB, Lie algebra)",
    "horaud_dornaika": "Horaud & Dornaika 1995 (AX=XB, linear quaternion)",
    "daniilidis": "Daniilidis 1999 (AX=XB, dual quaternion)",
    "andreff": "Andreff et al. 2001 (AX=XB, Kronecker)",
    "andreff_scale": "Andreff et al. 2001 with unknown translation scale",
    "park_martin+lm": "Park & Martin + non-linear SE(3) refinement",
    "ransac_park_martin": "RANSAC (Park & Martin minimal sets) + Huber refinement",
    "shah": "Shah 2013 (AX=YB, Kronecker closed form)",
    "li_kronecker": "Li et al. 2010 (AX=YB, Kronecker null space)",
    "shah+lm": "Shah + joint non-linear refinement of (X, Y)"
  }
}