{
  "date": "2026-09-30",
  "scope": "Handheld TUMVI room4 prefix; not UAV flight validation",
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    "status": "EVALUATED_NOT_CERTIFIED",
    "synthetic_checks": {
      "status": "PASS",
      "checks": [
        "rigid_invariance",
        "known_drift",
        "quaternion_sign",
        "interpolation_midpoint",
        "no_extrapolation",
        "gap_limit",
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    "ground_truth_rows": 13075,
    "max_bracket_gap_ns": 8334000,
    "numpy": "2.2.4",
    "method": "linear/SLERP; SE3 scale1; overlapping20-frameRPE"
  },
  "source": "https://cvg.cit.tum.de/data/datasets/visual-inertial-dataset",
  "dataset_license": "CC BY 4.0; Schubert et al.",
  "limitations": [
    "in-sample SE3 alignment",
    "no total uncertainty estimate",
    "overlapping RPE pairs"
  ]
}