Auditing Targetless Camera-LiDAR Extrinsic Correction before Recursive Use

Bo Ma, Weiqi Yan

Camera-LiDAR fusion repeatedly uses an extrinsic transform in projection, association, and recursive state estimation. We study whether a targetless correction should be admitted to a downstream consumer only after separate audits of correction quality, confidence ranking, and recursive risk. Our log-disjoint protocol evaluates these stages under synthetic extrinsic drift on Argoverse 2 and treats cross-dataset and odometry experiments as bounded diagnostics. On 27 test-split logs, single-frame Canny alignment is harmful in the mild tier. Multi-frame alignment improves severe-tier rotation by 2.52 degrees but worsens translation by 0.177 m; its declared joint error-magnitude improvement is also negative (-0.158, 95% CI [-0.223, -0.098]), so the rotation gain is not a six-degree-of-freedom correction success. A zero-injection check moves away from the true extrinsic, and solver-disagreement AUROC on selected splits does not yield a validated nonzero-coverage risk-coverage operating point. In a 15-log final system role, the locked conservative policy admits no candidate and equals Raw, whereas Always-correct increases trajectory error. These results support an auditable separation…