SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 2076 Details Information

mapping task ID: 2868 |
  

Algorihtm & Dataset

Algorithm Selection

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

Dataset Selection:

Dataset Sequence Name: MH_03_medium
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: vins-fusion-mono-imu+MH_03_medium+Image_comb_test-6
Mapping Task Configuration Description: 

Algorithm: vins-fusion-mono-imu
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-fusion max_cnt int 150
356 VINS+min_dist 
min_dist
 Algorithm vins-fusion 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-fusion freq int 10
358 VINS+F_threshold 
ransac threshold (pixel)
 Algorithm vins-fusion F_threshold float 1.0
360 VINS+max_solver_time 
max solver itration time (ms), to guarantee real time
 Algorithm vins-fusion max_solver_time float 0.04
361 VINS+max_num_iterations 
max solver itration time (ms), to guarantee real time
 Algorithm vins-fusion max_num_iterations int 8
362 VINS+keyframe_parallax 
keyframe selection threshold (pixel)
 Algorithm vins-fusion keyframe_parallax float 10.0
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
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-fusion show_track int 1
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
497 VINS+image_topic 
remap
 Dataset euroc image0_topic string /cam0/image_raw
498 VINS+imu_topic 
remap
 Dataset euroc imu_topic string /imu0
499 VINS+flow_back 
perform forward and backward optical flow to improve feature tracking accuracy
 Algorithm vins-fusion flow_back int 1
506 VINS+body_T_cam0 
body_T_cam0
 Dataset matrix euroc body_T_cam0 matrix [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0, 0, 0, 1]
507 VINS+cam0_calib 
cam0_calib
 Dataset euroc cam0_calib string cam0_pinhole.yaml
490 VINS+estimate_extrinsic 
Extrinsic parameter between IMU and Camera.
 Dataset euroc estimate_extrinsic int 0
505 general+g_norm 
gravity
 Dataset euroc g_norm float 9.81007
350 general+image_frequency 
frequency of image data
 Dataset euroc image_frequency int 10
575 general+imu_frequency 
frequency of imu data
 Dataset euroc imu_frequency int 200
436 general+fx 
intrinsic(pinhole)
 Dataset euroc cam0_fx float 458.654
437 general+fy 
intrinsic(pinhole)
 Dataset euroc cam0_fy float 457.296
438 general+cx 
intrinsic(pinhole)
 Dataset euroc cam0_cx float 367.215
439 general+cy 
intrinsic(pinhole)
 Dataset euroc cam0_cy float 248.375
588 dataset_frequency+image0_frequency 
using for dataset frequency reset.
 Dataset frequency General /cam0/image_raw int 2
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 cam0_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 cam0_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 cam0_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 cam0_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 image_frequency 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