SLAM Hive: A SLAM Evaluation Benchmark System

Wiki Link
Mapping Task Configuration 735 Details Information

mapping task ID: 1081 |
  

Algorihtm & Dataset

Algorithm Selection

Algorithm ImageTag: orb-slam3-ros-mono-inertial
Algorihtm name: orb-slam3

Dataset Selection:

Dataset Sequence Name: MH_02_easy
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: orb-slam3-ros-mono-inertial+left_camera+MH_01_easy+exploration_experiment_2-13
Mapping Task Configuration Description: 

Algorithm: orb-slam3-ros-mono-inertial
Dataset: MH_02_easy
Experiments to explore the parameter space.

algorithm: mono-inertial mode with left camera (/cam0/image_raw) 
image frequency: 1 | 2
image resolution: 1 | 0.5
imu frequency: 1 | 4
nFeatures: 1000 | 2000
Totally: 16 configurations

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-slam3 nFeatures int 2000
346 ORB+scaleFactor 
Scale factor between levels in the scale pyramid
 Algorithm orb-slam3 scaleFactor float 1.2
347 ORB+nLevels 
Number of levels in the scale pyramid
 Algorithm orb-slam3 nLevels int 8
348 ORB+iniThFAST 
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
 Algorithm orb-slam3 iniThFAST int 20
349 ORB+minThFAST 
You can lower these values if your images have low contrast
 Algorithm orb-slam3 minThFAST int 7
350 general+image_frequency 
frequency of image data
 Dataset euroc fps int 10
351 general+image_width 
image data size.
 Dataset euroc width int 376
352 general+image_height 
image data size.
 Dataset euroc height int 240
353 ORB+newWidth 
Image size after distortion removal
 Dataset euroc newWidth int 300
354 ORB+newHeight 
Image size after distortion removal
 Dataset euroc newHeight int 175
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-slam3 mono_topic string /camera/image_raw
447 ORB+/camera/image_raw 
remap
 Dataset remap euroc /camera/image_raw string /cam0/image_raw
472 ORB+useNewWidth 
In order to input the formatting parameters in the yaml file
 Dataset euroc useNewWidth string Camera.newWidth
473 ORB+useNewHeight 
In order to input the formatting parameters in the yaml file
 Dataset euroc useNewHeight string Camera.newHeight
474 ORB+imu_topic 
imu_topic
 Algorithm remap orb-slam3 imu_topic string /imu
475 ORB+/imu 
imu_topic
 Dataset remap euroc /imu string /imu0
476 general+NoiseGyro 
NoiseGyro
 Dataset euroc NoiseGyro float 0.00017
477 general+NoiseAcc 
NoiseAcc
 Dataset euroc NoiseAcc float 0.002
478 general+GyroWalk 
GyroWalk
 Dataset euroc GyroWalk float 1.9393e-05
479 general+AccWalk 
AccWalk
 Dataset euroc AccWalk float 0.003
480 ORB+T_b_c1 
T_b_c1
 Dataset matrix euroc T_b_c1 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, 0.0, 0.0, 1.0]
575 general+imu_frequency 
frequency of imu data
 Dataset euroc Frequency int 200
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 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 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 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 Frequency string /imu0
608 dataset_resolution_size+image1_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 newWidth string /cam0/image_raw
609 dataset_resolution_size+image1_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 newHeight string /cam0/image_raw