SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 275 Details Information

mapping task ID: 615 |
  
mapping task ID: 3279 |
  
mapping task ID: 3329 |
  
mapping task ID: 3379 |
  
mapping task ID: 3427 |
  

Algorihtm & Dataset

Algorithm Selection

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

Dataset Selection:

Dataset Sequence Name: MH_01_easy
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: orb-slam2-ros-stereo+MH_01_easy
Mapping Task Configuration Description: 

Algorithm: ORB-SLAM2-ros-stereo
Dataset: EuRoC MH_01_easy
Use default parameter
Environment: Desktop (Memory: 32GB; CPU: Intel® Core™ i7-7700 CPU @ 3.60GHz × 8; Disk: 1TB)


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 20.0
351 general+image_width 
image data size.
 Dataset euroc Camera_width int 752
352 general+image_height 
image data size.
 Dataset euroc Camera_height int 480
436 general+fx 
intrinsic(pinhole)
 Dataset euroc fx float 435.2046959714599
437 general+fy 
intrinsic(pinhole)
 Dataset euroc fy float 435.2046959714599
438 general+cx 
intrinsic(pinhole)
 Dataset euroc cx float 367.4517211914062
439 general+cy 
intrinsic(pinhole)
 Dataset euroc cy float 252.2008514404297
440 general+k1 
intrinsic(pinhole mei)
 Dataset euroc k1 float 0.0
441 general+k2 
intrinsic(pinhole mei)
 Dataset euroc k2 float 0.0
442 general+p1 
intrinsic(pinhole mei)
 Dataset euroc p1 float 0.0
443 general+p2 
intrinsic(pinhole mei)
 Dataset euroc p2 float 0.0
445 ORB+RGB 
RGB or BGR
 Dataset euroc RGB int 1
448 general+bf 
extrinsic
 Dataset euroc bf float 47.90639384423901
449 general+ThDepth 
extrinsic
 Dataset euroc ThDepth int 35
450 ORB+stereo_left 
remap
 Algorithm remap orb-slam2 stereo_left string /camera/left/image_raw
451 ORB+stereo_right 
remap
 Algorithm remap orb-slam2 stereo_right string /camera/right/image_raw
452 ORB+/camera/left/image_raw 
remap
 Dataset remap euroc /camera/left/image_raw string /cam0/image_raw
453 ORB+/camera/right/image_raw 
remap
 Dataset remap euroc /camera/right/image_raw string /cam1/image_raw
454 general+LEFT_D 
intrinsic
 Dataset matrix euroc LEFT_D matrix [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
455 general+LEFT_K 
intrinsic
 Dataset matrix euroc LEFT_K matrix [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
456 general+LEFT_R 
intrinsic
 Dataset matrix euroc LEFT_R matrix [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
457 general+LEFT_P 
intrinsic
 Dataset matrix euroc LEFT_P matrix [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
571 general+RIGHT_D 
intrinsic
 Dataset matrix euroc RIGHT_D matrix [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
572 general+RIGHT_K 
intrinsic
 Dataset matrix euroc RIGHT_K matrix [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
573 general+RIGHT_R 
intrinsic
 Dataset matrix euroc RIGHT_R matrix [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
574 general+RIGHT_P 
intrinsic
 Dataset matrix euroc RIGHT_P matrix [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]