SLAM Hive: A SLAM Evaluation Benchmark System

Wiki Link
Mapping Task Configuration 971 Details Information

mapping task ID: 1317 |
  

Algorihtm & Dataset

Algorithm Selection

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

Dataset Selection:

Dataset Sequence Name: MH_05_difficult
Dataset name: euroc


Configuration Information

Mapping Task Configuration Name: orb-slam3-ros-stereo-inertial+MH_01_easy+exploration_experiment_5-9
Mapping Task Configuration Description: 

Algorithm: orb-slam3-ros-stereo-inertial
Dataset: MH_05_difficult
Experiments to explore the parameter space.

algorithm: stereo-inertial mode
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 20
351 general+image_width 
image data size.
 Dataset euroc width int 376
352 general+image_height 
image data size.
 Dataset euroc height int 240
436 general+fx 
intrinsic(pinhole)
 Dataset euroc fx float 218.32162852
437 general+fy 
intrinsic(pinhole)
 Dataset euroc fy float 218.32162852
438 general+cx 
intrinsic(pinhole)
 Dataset euroc cx float 182.34145927
439 general+cy 
intrinsic(pinhole)
 Dataset euroc cy float 128.59058762
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 24.03237374
449 general+ThDepth 
extrinsic
 Dataset euroc ThDepth float 120.0
450 ORB+stereo_left 
remap
 Algorithm remap orb-slam3 stereo_left string /camera/left/image_raw
451 ORB+stereo_right 
remap
 Algorithm remap orb-slam3 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 [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0]
456 general+LEFT_R 
intrinsic
 Dataset matrix euroc LEFT_R matrix [0.99996635, -0.00142274, 0.00807958, 0.00136574, 0.99997418, 0.00705563, -0.00808941, -0.00704436, 0.99994247]
457 general+LEFT_P 
intrinsic
 Dataset matrix euroc LEFT_P matrix [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
481 ORB+bFishEye 
bFishEye
 Dataset euroc bFishEye int 0
571 general+RIGHT_D 
intrinsic
 Dataset matrix euroc RIGHT_D matrix [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
572 general+RIGHT_K 
intrinsic
 Dataset matrix euroc RIGHT_K matrix [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 0.5]
573 general+RIGHT_R 
intrinsic
 Dataset matrix euroc RIGHT_R matrix [0.99996335, -0.00362581, 0.00775544, 0.0036804, 0.99996848, -0.00703585, -0.00772969, 0.00706413, 0.99994517]
574 general+RIGHT_P 
intrinsic
 Dataset matrix euroc RIGHT_P matrix [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
474 ORB+imu_topic 
imu_topic
 Algorithm remap orb-slam2 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 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 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
602 dataset_frequency+image1_frequency 
using for dataset frequency reset.
 Dataset frequency General /cam1/image_raw int 1
603 dataset_resolution+image1_resolution 
using for dataset image resolution reset.
 Dataset resolution General /cam1/image_raw float 0.5
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
610 dataset_resolution_intrinsic+LEFT_D 
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 LEFT_D string /cam0/image_raw
611 dataset_resolution_intrinsic+LEFT_K 
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 LEFT_K string /cam0/image_raw
612 dataset_resolution_intrinsic+LEFT_R 
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 LEFT_R string /cam0/image_raw
613 dataset_resolution_intrinsic+LEFT_P 
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 LEFT_P string /cam0/image_raw
614 dataset_resolution_intrinsic+RIGHT_D 
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 RIGHT_D string /cam1/image_raw
615 dataset_resolution_intrinsic+RIGHT_K 
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 RIGHT_K string /cam1/image_raw
616 dataset_resolution_intrinsic+RIGHT_R 
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 RIGHT_R string /cam1/image_raw
617 dataset_resolution_intrinsic+RIGHT_P 
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 RIGHT_P string /cam1/image_raw
618 dataset_resolution_intrinsic+bf 
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 bf string /cam0/image_raw
619 dataset_resolution_intrinsic+ThDepth 
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 ThDepth string /cam0/image_raw