SLAM Hive: A SLAM Evaluation Benchmark System

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ndt-loam with kitti_2011_09_30_drive_0028_synced_full

Current mappingtask configuration id: 1000
  
Current mappingtask id: 1357
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters distance_near_thresh 0.5
algorithm-parameters distance_far_thresh 100.0
algorithm-parameters downsample_resolution 0.1
algorithm-parameters statistical_mean_k 30
algorithm-parameters statistical_stddev 1.2
algorithm-parameters radius_radius 0.5
algorithm-parameters radius_min_neighbors 5
algorithm-parameters keyframe_delta_trans 10.0
algorithm-parameters keyframe_delta_angle 0.17
algorithm-parameters keyframe_delta_time 1.0
algorithm-parameters scan_line 64
algorithm-parameters mapping_skip_frame 1
algorithm-parameters minimum_range 5
algorithm-parameters mapping_line_resolution 0.4
algorithm-parameters mapping_plane_resolution 0.8
algorithm-parameters seq 4
algorithm-parameters g2o_solver_num_iterations 1024
algorithm-parameters distance_thresh 20.0
algorithm-parameters accum_distance_thresh 100.0
algorithm-parameters min_edge_interval 50.0
algorithm-parameters fitness_score_thresh 2.0
algorithm-parameters ndt_resolution 1.0
algorithm-parameters ndt_num_threads 8
algorithm-parameters gps_edge_robust_kernel_size 1.0
algorithm-parameters gps_edge_stddev_xy 20.0
algorithm-parameters gps_edge_stddev_z 5.0
algorithm-parameters imu_orientation_edge_stddev 1.0
algorithm-parameters imu_acceleration_edge_stddev 1.0
algorithm-parameters floor_edge_stddev 100.0
algorithm-parameters odometry_edge_robust_kernel_size 1.0
algorithm-parameters loop_closure_edge_robust_kernel_size 1.0
algorithm-parameters const_stddev_x 0.5
algorithm-parameters const_stddev_q 0.1
algorithm-parameters var_gain_a 20.0
algorithm-parameters min_stddev_x 0.1
algorithm-parameters max_stddev_x 5.0
algorithm-parameters min_stddev_q 0.05
algorithm-parameters max_stddev_q 0.2
algorithm-parameters graph_update_interval 10.0
algorithm-parameters max_keyframes_per_update 20
algorithm-parameters map_cloud_update_interval 10.0
algorithm-parameters map_cloud_resolution 0.5
algorithm-parameters pointcloud_topic /points_raw
algorithm-parameters enable_floor_detection False
algorithm-parameters enable_gps False
algorithm-parameters enable_imu_acc False
algorithm-parameters enable_imu_ori False
algorithm-parameters base_link_frame base_link
algorithm-parameters use_distance_filter True
algorithm-parameters downsample_method VOXELGRID
algorithm-parameters outlier_removal_method RADIUS
algorithm-parameters use_angle_calibration False
algorithm-parameters odom_frame_id odom
algorithm-parameters calib_file home/chenshoubin/slam_ws/src/lv_slam/config/kitti_calib/calib04-12.txt
algorithm-parameters lfa_output_path /home/chenshoubin/slam_ws/src/lv_slam/data/kitti_lv_dlo_lfa_ggo
algorithm-parameters g2o_solver_type lm_var_cholmod
algorithm-parameters registration_method NDT_OMP
algorithm-parameters ndt_nn_search_method DIRECT7
algorithm-parameters gps_edge_robust_kernel Huber
algorithm-parameters imu_orientation_edge_robust_kernel Huber
algorithm-parameters imu_acceleration_edge_robust_kernel Huber
algorithm-parameters floor_edge_robust_kernel Huber
algorithm-parameters odometry_edge_robust_kernel Huber
algorithm-parameters loop_closure_edge_robust_kernel Huber
algorithm-parameters use_const_inf_matrix True
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 15.273753986149487 11.77601299281027 7.955830663792921 9.7269254557944 1.6753688347791964 49.39173638017764 937349.419412599
RPE 1.4232272167082047 1.4141318295303125 1.4118579498684363 0.16064519628122828 0.8014624555779801 2.7238496193501476 3396.8904663055546
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
4.881631689221992 3.7920163411266934 6059.83203125