SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 1744 Details Information

mapping task ID: 2184 |
  

Algorihtm & Dataset

Algorithm Selection

Algorithm ImageTag: orb-slam2-ros-mono
Algorihtm name: orb-slam2

Dataset Selection:

Dataset Sequence Name: MH_02_easy
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: orb-slam2-ros-mono+MH_02_easy+Image_comb_test-9
Mapping Task Configuration Description: 

Algorithm: orb-slam2-ros-mono
Dataset: MH_02_easy
Experiments to explore the parameter space.

image frequency: 20 | 10 | 5 | 2 | 1 
image resolution: 1 | 0.8 | 0.6 | 0.5 | 0.4 | 0.2

Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB) 

Totally: 5*6 = 30


Corresponding Parameters Infomation

ID Name Description parameter Type Algo/Dataset Name Key Value Type Value
345 ORB+nFeatures 
Number of features per image
 Algorithm orb-slam2 nFeatures int 1000
346 ORB+scaleFactor 
Scale factor between levels in the scale pyramid
 Algorithm orb-slam2 scaleFactor float 1.2
347 ORB+nLevels 
Number of levels in the scale pyramid
 Algorithm orb-slam2 nLevels int 8
348 ORB+iniThFAST 
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
 Algorithm orb-slam2 iniThFAST int 20
349 ORB+minThFAST 
You can lower these values if your images have low contrast
 Algorithm orb-slam2 minThFAST int 7
350 general+image_frequency 
frequency of image data
 Dataset euroc fps float 10.0
436 general+fx 
intrinsic(pinhole)
 Dataset euroc fx float 229.327
437 general+fy 
intrinsic(pinhole)
 Dataset euroc fy float 228.648
438 general+cx 
intrinsic(pinhole)
 Dataset euroc cx float 183.6075
439 general+cy 
intrinsic(pinhole)
 Dataset euroc cy float 124.1875
440 general+k1 
intrinsic(pinhole mei)
 Dataset euroc k1 float -0.28340811
441 general+k2 
intrinsic(pinhole mei)
 Dataset euroc k2 float 0.07395907
442 general+p1 
intrinsic(pinhole mei)
 Dataset euroc p1 float 0.00019359
443 general+p2 
intrinsic(pinhole mei)
 Dataset euroc p2 float 1.76187114e-05
445 ORB+RGB 
RGB or BGR
 Dataset euroc RGB int 1
446 ORB+mono_topic 
remap
 Algorithm remap orb-slam2 mono_topic string /camera/image_raw
447 ORB+/camera/image_raw 
remap
 Dataset remap euroc /camera/image_raw string /cam0/image_raw
351 general+image_width 
image data size.
 Dataset euroc Camera_width int 376
352 general+image_height 
image data size.
 Dataset euroc Camera_height int 240
588 dataset_frequency+image0_frequency 
using for dataset frequency reset.
 Dataset frequency General /cam0/image_raw int 2
591 dataset_resolution+image0_resolution 
using for dataset image resolution reset.
 Dataset resolution General /cam0/image_raw float 0.5
592 dataset_resolution_size+image0_width 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution size General Camera_width string /cam0/image_raw
593 dataset_resolution_size+image0_height 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution size General Camera_height string /cam0/image_raw
594 dataset_resolution_intrinsic+cam0_fx 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution intrinsic General fx string /cam0/image_raw
595 dataset_resolution_intrinsic+cam0_fy 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution intrinsic General fy string /cam0/image_raw
596 dataset_resolution_intrinsic+cam0_cx 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution intrinsic General cx string /cam0/image_raw
597 dataset_resolution_intrinsic+cam0_cy 
Using for image resolution;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset resolution intrinsic General cy string /cam0/image_raw
604 dataset_frequency_remap+image0_frequency 
Using for frequency;
to show the relationship between key(parameter key that its value needs to be changed) and value(topic)
 Dataset frequency remap General fps string /cam0/image_raw