SLAM Hive: A SLAM Evaluation Benchmark System ()

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lego-loam-imu with kitti_2011_09_30_drive_0028_synced_full

Current mappingtask configuration id: 998
  
Current mappingtask id: 1355
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters pointcloud_topic /points_raw
algorithm-parameters imu_topic /imu_raw
dataset-parameters lidar_frequency 10
dataset-parameters imu_frequency 100
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 9.75217952467991 8.007672601975674 6.2316811344767125 5.566164296996113 1.3086515095561058 31.956072706373515 382131.9120250129
RPE 0.30546257143002103 0.18137879253310116 0.07586142346327907 0.24578266042150929 0.007001909387197719 2.0345234029655375 155.91663623209462
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.4299845120761057 1.43104307282999 1082.56640625