{
  "schema": "voxelflight.frozen-trajectory-evaluation.v1",
  "frames": 90,
  "image_id_range": [
    61201,
    63000
  ],
  "protocol": {
    "ground_truth_used_in_construction": false,
    "reference_use": "Scoring only; geometry remains frozen",
    "evaluated_quantity": "Camera centres, NOT reconstructed surface points",
    "reference_interpolation": "Linear by source image ID; no extrapolation; gaps <=30 frames",
    "interpolated_queries": 87,
    "exact_reference_queries": 3
  },
  "absolute_trajectory_error": {
    "rmse_m": 8.648925335948936,
    "median_m": 8.043026739373126,
    "p95_m": 11.082071586622328,
    "max_m": 11.22287481897966
  },
  "raw_gps_absolute_error": {
    "rmse_m": 9.136534841286744,
    "median_m": 7.474094659073692,
    "p95_m": 13.594731425130815,
    "max_m": 13.968141631952609
  },
  "se3_aligned_trajectory_error": {
    "rmse_m": 0.45105772473781797,
    "median_m": 0.37774252352672244,
    "p95_m": 0.7994566999656363,
    "max_m": 1.0777007206637421
  },
  "sim3_aligned_trajectory_error": {
    "rmse_m": 0.39739607712389324,
    "median_m": 0.3187815894449269,
    "p95_m": 0.7456049479989374,
    "max_m": 0.7891157764575718
  },
  "evaluation_only_sim3_scale": 0.9894460877893627,
  "surface_rmse_m": null,
  "sih_spatial_accuracy_verified": false,
  "frozen_run": "sfm-anchored90-gps-20260910",
  "frozen_report_sha256": "fe8a308ccf542c42a20f7b52e58d819c5101d4b3d772f7e83c108b41bcbf86eb",
  "reference_sha256": "50e95abc70461567a915a76ba17231ae3088b834dbcb433737135eacb9c9c552",
  "warning": "Aligned scores remove global errors using reference data at evaluation time. They are not absolute positioning or surface-accuracy scores."
}