SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 1915 Details Information

mapping task ID: 2704 |
  
mapping task ID: 3321 |
  
mapping task ID: 3371 |
  
mapping task ID: 3420 |
  
mapping task ID: 3467 |
  

Algorihtm & Dataset

Algorithm Selection

Algorithm ImageTag: vins-mono
Algorihtm name: vins-mono

Dataset Selection:

Dataset Sequence Name: MH_03_medium
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: vins-mono+MH_03_medium+Image_comb_test-0
Mapping Task Configuration Description: 

Algorithm: vins-mono
Dataset: MH_03_medium
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
351 general+image_width 
image data size.
 Dataset euroc image_width int 752
352 general+image_height 
image data size.
 Dataset euroc image_height int 480
355 VINS+max_cnt 
max_cnt
 Algorithm vins-mono max_cnt int 150
356 VINS+min_dist 
min_dist
 Algorithm vins-mono min_dist int 30
357 VINS+freq 
frequence (Hz) of publish tracking result. At least 10Hz for good estimation. If set 0, the frequence will be same as raw image
 Algorithm vins-mono freq int 10
358 VINS+F_threshold 
ransac threshold (pixel)
 Algorithm vins-mono F_threshold float 1.0
359 VINS+equalize 
if image is too dark or light, trun on equalize to find enough features
 Algorithm vins-mono equalize int 1
360 VINS+max_solver_time 
max solver itration time (ms), to guarantee real time
 Algorithm vins-mono max_solver_time float 0.04
361 VINS+max_num_iterations 
max solver itration time (ms), to guarantee real time
 Algorithm vins-mono max_num_iterations int 8
362 VINS+keyframe_parallax 
keyframe selection threshold (pixel)
 Algorithm vins-mono keyframe_parallax float 10.0
363 VINS+loop_closure 
start loop closure
 Algorithm vins-mono loop_closure int 1
364 VINS+fast_relocalization 
useful in real-time and large project
 Algorithm vins-mono fast_relocalization int 0
436 general+fx 
intrinsic(pinhole)
 Dataset euroc fx float 458.654
437 general+fy 
intrinsic(pinhole)
 Dataset euroc fy float 457.296
438 general+cx 
intrinsic(pinhole)
 Dataset euroc cx float 367.215
439 general+cy 
intrinsic(pinhole)
 Dataset euroc cy float 248.375
440 general+k1 
intrinsic(pinhole mei)
 Dataset euroc k1 float -0.2917
441 general+k2 
intrinsic(pinhole mei)
 Dataset euroc k2 float 0.08228
442 general+p1 
intrinsic(pinhole mei)
 Dataset euroc p1 float 5.333e-05
443 general+p2 
intrinsic(pinhole mei)
 Dataset euroc p2 float -0.0001578
476 general+NoiseGyro 
NoiseGyro
 Dataset euroc gyr_n float 0.004
477 general+NoiseAcc 
NoiseAcc
 Dataset euroc acc_n float 0.08
478 general+GyroWalk 
GyroWalk
 Dataset euroc gyr_w float 2e-06
479 general+AccWalk 
AccWalk
 Dataset euroc acc_w float 4e-05
482 VINS+show_track 
publish tracking image as topic
 Algorithm vins-mono show_track int 1
483 VINS+fisheye 
fisheye
 Algorithm vins-mono fisheye int 0
484 VINS+load_previous_pose_graph 
start loop closure
 Algorithm vins-mono load_previous_pose_graph int 0
485 VINS+save_image 
save image in pose graph for visualization prupose; you can close this function by setting 0
 Algorithm vins-mono save_image int 1
486 VINS+visualize_imu_forward 
visualization parameters
 Algorithm vins-mono visualize_imu_forward int 0
487 VINS+visualize_camera_size 
visualization parameters
 Algorithm vins-mono visualize_camera_size float 0.4
488 VINS+model_type 
camera calibration
 Dataset euroc model_type string PINHOLE
489 VINS+camera_name 
camera calibration
 Dataset euroc camera_name string camera
490 VINS+estimate_extrinsic 
Extrinsic parameter between IMU and Camera.
 Dataset euroc estimate_extrinsic int 0
491 VINS+extrinsicRotation 
Extrinsic parameter between IMU and Camera.
 Dataset matrix euroc extrinsicRotation matrix [0.0148655429818, -0.999880929698, 0.00414029679422, 0.999557249008, 0.0149672133247, 0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178]
492 VINS+extrinsicTranslation 
Extrinsic parameter between IMU and Camera.
 Dataset matrix euroc extrinsicTranslation matrix [-0.0216401454975, 0.064676986768, 0.00981073058949]
493 VINS+estimate_td 
online estimate time offset between camera and imu
 Dataset euroc estimate_td int 0
494 VINS+td 
initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
 Dataset euroc td float 0.0
495 VINS+rolling_shutter 
0: global shutter camera, 1: rolling shutter camera
 Dataset euroc rolling_shutter int 0
496 VINS+rolling_shutter_tr 
unit: s. rolling shutter read out time per frame (from data sheet).
 Dataset euroc rolling_shutter_tr int 0
497 VINS+image_topic 
remap
 Dataset euroc image_topic string /cam0/image_raw
498 VINS+imu_topic 
remap
 Dataset euroc imu_topic string /imu0
505 general+g_norm 
gravity
 Dataset euroc g_norm float 9.81007
350 general+image_frequency 
frequency of image data
 Dataset euroc fps int 20
575 general+imu_frequency 
frequency of imu data
 Dataset euroc imu_frequency int 200
588 dataset_frequency+image0_frequency 
using for dataset frequency reset.
 Dataset frequency General /cam0/image_raw int 1
589 dataset_frequency+imu_frequency 
using for dataset frequency reset.
 Dataset frequency General /imu0 int 1
591 dataset_resolution+image0_resolution 
using for dataset image resolution reset.
 Dataset resolution General /cam0/image_raw float 1.0
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 image_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 image_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
606 dataset_frequency_remap+imu_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 imu_frequency string /imu0