SLAM Hive: A SLAM Evaluation Benchmark System


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Current Custom Analysis id: 1722006634440558
Configurations number: 1
Configurations ID List: [ 531, ]


8_repeatability_test


ATE Error Statistics
Task id\ATE RMSE Mean Median Std Min Max SSE
755 0.04276 0.036071 0.0311778 0.022963 0.00530363 0.114771 0.217581
913 0.0449042 0.0365822 0.0315902 0.026041 0.0034091 0.108064 0.237934
914 0.0404087 0.0336725 0.0272086 0.022339 0.00288988 0.0869798 0.202476
915 0.0397488 0.0332424 0.0251432 0.0217924 0.00231093 0.0828301 0.189596
916 0.0390709 0.0337536 0.0304836 0.0196782 0.00418464 0.0774637 0.174025
917 0.0361726 0.0305337 0.0261612 0.0193947 0.00188237 0.0748766 0.160941
918 0.0404624 0.0339375 0.0291515 0.0220331 0.00315065 0.0797177 0.19974
919 0.0368856 0.0305533 0.024739 0.020665 0.00285189 0.0759637 0.160545
920 0.0384538 0.0316694 0.0254018 0.0218115 0.00168421 0.0883395 0.173007
921 0.0414423 0.034327 0.0268156 0.0232191 0.00117818 0.0808323 0.204378
922 0.0406931 0.0328483 0.024974 0.0240191 0.00265003 0.0950841 0.198712
923 0.0426614 0.0350688 0.0271137 0.0242935 0.00240303 0.0796322 0.223859
924 0.042267 0.0354163 0.0301286 0.0230691 0.00217569 0.0940136 0.210807
925 0.0396344 0.032815 0.0267219 0.0222276 0.00306446 0.0800149 0.186936
926 0.0403312 0.0340992 0.0285797 0.0215371 0.00530127 0.0811702 0.198446
927 0.0400829 0.0333287 0.0273556 0.0222674 0.00164088 0.0801558 0.194404
928 0.0392408 0.0332716 0.0267723 0.0208048 0.00433933 0.0710902 0.186321
929 0.0414151 0.0343361 0.0274545 0.0231569 0.0036595 0.0881904 0.198964
930 0.0383137 0.0312799 0.0268278 0.0221247 0.000910218 0.0906766 0.17762
931 0.0425554 0.0349042 0.0298844 0.0243446 0.00186219 0.0931703 0.211883
932 0.0374423 0.0306693 0.0256156 0.0214783 0.00062793 0.0839379 0.168231
RPE Error Statistics
Task id\RPE RMSE Mean Median Std Min Max SSE
755 0.997465 0.917007 1.1167 0.392473 0.194312 1.49574 32.8329
913 1.11357 1.06092 1.23577 0.338365 0.149819 1.41862 48.3615
914 1.04485 0.957996 1.11484 0.417074 0.0581121 1.48398 39.3014
915 1.07161 0.982681 1.21129 0.427412 0.164914 1.49551 27.5602
916 1.05868 0.999654 1.16023 0.348576 0.286074 1.41217 28.0203
917 1.00998 0.934821 1.12486 0.382326 0.192983 1.48104 37.7424
918 1.0574 0.997381 1.18314 0.35118 0.236687 1.52042 57.0229
919 1.01592 0.932911 1.12164 0.402205 0.18946 1.44989 37.1553
920 0.994136 0.914138 1.12586 0.390717 0.0686359 1.44512 38.544
921 0.996376 0.914502 1.08338 0.395539 0.112914 1.36614 28.7902
922 1.01908 0.938426 0.984134 0.397352 0.125188 1.47393 33.233
923 1.00175 0.920801 1.09796 0.394493 0.0197151 1.41005 36.126
924 0.968764 0.872858 1.10574 0.420264 0.0387433 1.44603 31.9091
925 0.952907 0.854901 1.05367 0.420925 0.119102 1.50553 34.5052
926 1.01507 0.951485 1.14735 0.353627 0.189893 1.33557 32.972
927 1.02961 0.937477 1.17057 0.425727 0.09022 1.32686 39.2239
928 0.97552 0.890054 1.07766 0.399303 0.112399 1.51085 35.2106
929 0.998979 0.911344 1.08332 0.409159 0.0901401 1.40839 34.9286
930 0.942013 0.856045 1.01846 0.393161 0.0402958 1.29865 27.5091
931 0.956285 0.881268 0.966391 0.371277 0.258755 1.50774 26.5199
932 0.997895 0.90528 1.13254 0.419838 0.0901797 1.36396 32.8612
Computing resource usage
Task id\Usage Max CPU (core) Mean CPU (core) Max Memory (MB)
755 2.1699 1.62492 1607.98
913 2.24798 1.67935 922.258
914 2.15849 1.69379 904.695
915 2.20561 1.70465 903.211
916 2.18825 1.68279 909.535
917 2.24993 1.69817 903.312
918 2.22434 1.65907 916.023
919 2.21363 1.68365 905.625
920 2.1978 1.67557 906.969
921 2.22472 1.68953 913.125
922 2.19759 1.70755 909.023
923 2.27163 1.69683 912.355
924 2.27246 1.71029 907.629
925 2.24812 1.73045 904.805
926 2.23718 1.70528 929.16
927 2.31514 1.71411 908.559
928 2.21864 1.68408 905.117
929 2.19694 1.69675 905.531
930 2.2138 1.69282 916.492
931 2.29866 1.70062 909.898
932 2.21434 1.70245 903.59


rules: 
configuration_choose:
  comb_configuration_id: []
  combination_rule:
    first_one:
    - 0
    first_rule:
    - U
    second_one:
    - 1
    - 2
    second_rule:
    - I
  configuration_id:
  - 531
  limitation_rules:
    algorithm_id: null
    dataset_id: null
    evaluation_value:
      ate_max_maximun: null
      ate_max_minimum: null
      ate_max_nolimitation: 1
      ate_mean_maximun: null
      ate_mean_minimum: null
      ate_mean_nolimitation: 1
      ate_median_maximun: null
      ate_median_minimum: null
      ate_median_nolimitation: 1
      ate_min_maximun: null
      ate_min_minimum: null
      ate_min_nolimitation: 1
      ate_rmse_maximun: null
      ate_rmse_minimum: null
      ate_rmse_nolimitation: 1
      ate_sse_maximun: null
      ate_sse_minimum: null
      ate_sse_nolimitation: 1
      ate_std_maximun: null
      ate_std_minimum: null
      ate_std_nolimitation: 1
      cpu_max_maximun: null
      cpu_max_minimum: null
      cpu_max_nolimitation: 1
      cpu_mean_maximun: null
      cpu_mean_minimum: null
      cpu_mean_nolimitation: 1
      ram_max_maximun: null
      ram_max_minimum: null
      ram_max_nolimitation: 1
      rpe_max_maximun: null
      rpe_max_minimum: null
      rpe_max_nolimitation: 1
      rpe_mean_maximun: null
      rpe_mean_minimum: null
      rpe_mean_nolimitation: 1
      rpe_median_maximun: null
      rpe_median_minimum: null
      rpe_median_nolimitation: 1
      rpe_min_maximun: null
      rpe_min_minimum: null
      rpe_min_nolimitation: 1
      rpe_rmse_maximun: null
      rpe_rmse_minimum: null
      rpe_rmse_nolimitation: 1
      rpe_sse_maximun: null
      rpe_sse_minimum: null
      rpe_sse_nolimitation: 1
      rpe_std_maximun: null
      rpe_std_minimum: null
      rpe_std_nolimitation: 1
    parameters_value:
    - nFeatures < 4000
evaluation_form:
  1_trajectory_comparison:
    choose: 0
  2_accuracy_metrics_comparison:
    choose: 0
  3_accuracy_metrics_comparison:
    algorithm_id:
    - 12
    calculate_method: 1
    choose: 0
    dataset_id:
    - 2
    metric: ate_rmse
  4_usage_metrics_comparison:
    choose: 0
  5_scatter_diagram:
    choose: 0
    x-axis: ate_mean
    y-axis: cpu_mean
  6_scatter_diagram:
    choose: 0
    x-axis: general+image_frequency
    y-axis: ate_mean
  7_3d_scatter_diagram:
    choose: 0
    x-axis: general+image_width
    y-axis: general+imu_frequency
    z-axis: ate_mean
  8_repeatability_test:
    choose: 1
    metric: ate_rmse
  algorithm_dataset_type: 0
group_description: random test; 531 (bad dataset)
group_name: Paper_8_repeatability_Experiment
is_visualized: 1