SLAM Hive: A SLAM Evaluation Benchmark System

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Mapping Task Configuration 297 Details Information

mapping task ID: 643 |
  

Algorihtm & Dataset

Algorithm Selection

Algorithm ImageTag: ndt-loam
Algorihtm name: ndt-loam

Dataset Selection:

Dataset Sequence Name: kitti_2011_09_30_drive_0027_synced_full
Dataset name: kitti


Configuration Information

Mapping Task Configuration Name: ndt-loam-imu+kitti_2011_09_30_drive_0027_synced_full
Mapping Task Configuration Description: 

Algorithm: ndt-loam
Dataset: kitti_2011_09_30_drive_0027_synced_full
Use default parameter and using imu data
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
394 NDT-LOAM+distance_near_thresh 
ndt-loam parameter
 Algorithm ndt-loam distance_near_thresh float 0.5
395 NDT-LOAM+distance_far_thresh 
ndt-loam parameter
 Algorithm ndt-loam distance_far_thresh float 100.0
396 NDT-LOAM+downsample_resolution 
ndt-loam parameter
 Algorithm ndt-loam downsample_resolution float 0.1
397 NDT-LOAM+statistical_mean_k 
ndt-loam parameter
 Algorithm ndt-loam statistical_mean_k int 30
398 NDT-LOAM+statistical_stddev 
ndt-loam parameter
 Algorithm ndt-loam statistical_stddev float 1.2
399 NDT-LOAM+radius_radius 
ndt-loam parameter
 Algorithm ndt-loam radius_radius float 0.5
400 NDT-LOAM+radius_min_neighbors 
ndt-loam parameter
 Algorithm ndt-loam radius_min_neighbors int 5
401 NDT-LOAM+keyframe_delta_trans 
ndt-loam parameter
 Algorithm ndt-loam keyframe_delta_trans float 10.0
402 NDT-LOAM+keyframe_delta_angle 
ndt-loam parameter
 Algorithm ndt-loam keyframe_delta_angle float 0.17
403 NDT-LOAM+keyframe_delta_time 
ndt-loam parameter
 Algorithm ndt-loam keyframe_delta_time float 1.0
404 NDT-LOAM+scan_line 
ndt-loam parameter
 Algorithm ndt-loam scan_line int 64
405 NDT-LOAM+mapping_skip_frame 
ndt-loam parameter
 Algorithm ndt-loam mapping_skip_frame int 1
406 NDT-LOAM+minimum_range 
ndt-loam parameter
 Algorithm ndt-loam minimum_range int 5
407 NDT-LOAM+mapping_line_resolution 
ndt-loam parameter
 Algorithm ndt-loam mapping_line_resolution float 0.4
408 NDT-LOAM+mapping_plane_resolution 
ndt-loam parameter
 Algorithm ndt-loam mapping_plane_resolution float 0.8
409 NDT-LOAM+seq 
ndt-loam parameter
 Algorithm ndt-loam seq string 04
410 NDT-LOAM+g2o_solver_num_iterations 
ndt-loam parameter
 Algorithm ndt-loam g2o_solver_num_iterations int 1024
411 NDT-LOAM+distance_thresh 
ndt-loam parameter
 Algorithm ndt-loam distance_thresh float 20.0
412 NDT-LOAM+accum_distance_thresh 
ndt-loam parameter
 Algorithm ndt-loam accum_distance_thresh float 100.0
413 NDT-LOAM+min_edge_interval 
ndt-loam parameter
 Algorithm ndt-loam min_edge_interval float 50.0
414 NDT-LOAM+fitness_score_thresh 
ndt-loam parameter
 Algorithm ndt-loam fitness_score_thresh float 2.0
415 NDT-LOAM+ndt_resolution 
ndt-loam parameter
 Algorithm ndt-loam ndt_resolution float 1.0
416 NDT-LOAM+ndt_num_threads 
ndt-loam parameter
 Algorithm ndt-loam ndt_num_threads int 8
417 NDT-LOAM+gps_edge_robust_kernel_size 
ndt-loam parameter
 Algorithm ndt-loam gps_edge_robust_kernel_size float 1.0
418 NDT-LOAM+gps_edge_stddev_xy 
ndt-loam parameter
 Algorithm ndt-loam gps_edge_stddev_xy float 20.0
419 NDT-LOAM+gps_edge_stddev_z 
ndt-loam parameter
 Algorithm ndt-loam gps_edge_stddev_z float 5.0
420 NDT-LOAM+imu_orientation_edge_stddev 
ndt-loam parameter
 Algorithm ndt-loam imu_orientation_edge_stddev float 1.0
421 NDT-LOAM+imu_acceleration_edge_stddev 
ndt-loam parameter
 Algorithm ndt-loam imu_acceleration_edge_stddev float 1.0
422 NDT-LOAM+floor_edge_stddev 
ndt-loam parameter
 Algorithm ndt-loam floor_edge_stddev float 100.0
423 NDT-LOAM+odometry_edge_robust_kernel_size 
ndt-loam parameter
 Algorithm ndt-loam odometry_edge_robust_kernel_size float 1.0
424 NDT-LOAM+loop_closure_edge_robust_kernel_size 
ndt-loam parameter
 Algorithm ndt-loam loop_closure_edge_robust_kernel_size float 1.0
425 NDT-LOAM+const_stddev_x 
ndt-loam parameter
 Algorithm ndt-loam const_stddev_x float 0.5
426 NDT-LOAM+const_stddev_q 
ndt-loam parameter
 Algorithm ndt-loam const_stddev_q float 0.1
427 NDT-LOAM+var_gain_a 
ndt-loam parameter
 Algorithm ndt-loam var_gain_a float 20.0
428 NDT-LOAM+min_stddev_x 
ndt-loam parameter
 Algorithm ndt-loam min_stddev_x float 0.1
429 NDT-LOAM+max_stddev_x 
ndt-loam parameter
 Algorithm ndt-loam max_stddev_x float 5.0
430 NDT-LOAM+min_stddev_q 
ndt-loam parameter
 Algorithm ndt-loam min_stddev_q float 0.05
431 NDT-LOAM+max_stddev_q 
ndt-loam parameter
 Algorithm ndt-loam max_stddev_q float 0.2
432 NDT-LOAM+graph_update_interval 
ndt-loam parameter
 Algorithm ndt-loam graph_update_interval float 10.0
433 NDT-LOAM+max_keyframes_per_update 
ndt-loam parameter
 Algorithm ndt-loam max_keyframes_per_update int 20
434 NDT-LOAM+map_cloud_update_interval 
ndt-loam parameter
 Algorithm ndt-loam map_cloud_update_interval float 10.0
435 NDT-LOAM+map_cloud_resolution 
ndt-loam parameter
 Algorithm ndt-loam map_cloud_resolution float 0.5
545 NDT-LOAM+pointcloud_topic 
remap
 Algorithm ndt-loam pointcloud_topic string /points_raw
546 NDT-LOAM+enable_floor_detection 
ndt-loam
 Algorithm ndt-loam enable_floor_detection string false
547 NDT-LOAM+enable_gps 
ndt-loam
 Algorithm ndt-loam enable_gps string false
548 NDT-LOAM+enable_imu_acc 
ndt-loam
 Algorithm ndt-loam enable_imu_acc string false
549 NDT-LOAM+enable_imu_ori 
ndt-loam
 Algorithm ndt-loam enable_imu_ori string false
550 NDT-LOAM+base_link_frame 
ndt-loam
 Algorithm ndt-loam base_link_frame string base_link
551 NDT-LOAM+use_distance_filter 
ndt-loam
 Algorithm ndt-loam use_distance_filter string true
552 NDT-LOAM+downsample_method 
ndt-loam
 Algorithm ndt-loam downsample_method string VOXELGRID
553 NDT-LOAM+outlier_removal_method 
ndt-loam
 Algorithm ndt-loam outlier_removal_method string RADIUS
554 NDT-LOAM+use_angle_calibration 
ndt-loam
 Algorithm ndt-loam use_angle_calibration string false
555 NDT-LOAM+odom_frame_id 
ndt-loam
 Algorithm ndt-loam odom_frame_id string odom
556 NDT-LOAM+calib_file 
ndt-loam
 Algorithm ndt-loam calib_file string home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
557 NDT-LOAM+lfa_output_path 
ndt-loam
 Algorithm ndt-loam lfa_output_path string /home/chenshoubin/slam_ws/src/lv_slam/data/kitti_lv_dlo_lfa_ggo
558 NDT-LOAM+g2o_solver_type 
ndt-loam
 Algorithm ndt-loam g2o_solver_type string lm_var_cholmod
559 NDT-LOAM+registration_method 
ndt-loam
 Algorithm ndt-loam registration_method string NDT_OMP
560 NDT-LOAM+ndt_nn_search_method 
ndt-loam
 Algorithm ndt-loam ndt_nn_search_method string DIRECT7
561 NDT-LOAM+gps_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam gps_edge_robust_kernel string Huber
562 NDT-LOAM+imu_orientation_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam imu_orientation_edge_robust_kernel string Huber
563 NDT-LOAM+imu_acceleration_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam imu_acceleration_edge_robust_kernel string Huber
564 NDT-LOAM+floor_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam floor_edge_robust_kernel string Huber
565 NDT-LOAM+odometry_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam odometry_edge_robust_kernel string Huber
566 NDT-LOAM+loop_closure_edge_robust_kernel 
ndt-loam
 Algorithm ndt-loam loop_closure_edge_robust_kernel string Huber
567 NDT-LOAM+use_const_inf_matrix 
ndt-loam
 Algorithm ndt-loam use_const_inf_matrix string true
568 NDT-LOAM+imu_topic 
ndt-loam
 Algorithm ndt-loam imu_topic string /imu_raw
569 general+lidar_frequency 
frequency of Lidar data
 Dataset kitti lidar_frequency int 10
575 general+imu_frequency 
frequency of imu data
 Dataset kitti imu_frequency int 100