SLAM Hive: A SLAM Evaluation Benchmark System

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lio-sam with kitti_2011_09_30_drive_0028_synced_full

Current mappingtask configuration id: 994
  
Current mappingtask id: 1358
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters edgeThreshold 1.0
algorithm-parameters surfThreshold 0.1
algorithm-parameters edgeFeatureMinValidNum 10
algorithm-parameters surfFeatureMinValidNum 100
algorithm-parameters odometrySurfLeafSize 0.4
algorithm-parameters mappingCornerLeafSize 0.2
algorithm-parameters mappingSurfLeafSize 0.4
algorithm-parameters z_tollerance 1000
algorithm-parameters rotation_tollerance 1000
algorithm-parameters numberOfCores 4
algorithm-parameters mappingProcessInterval 0.15
algorithm-parameters surroundingkeyframeAddingDistThreshold 1.0
algorithm-parameters surroundingkeyframeAddingAngleThreshold 0.2
algorithm-parameters surroundingKeyframeDensity 2.0
algorithm-parameters surroundingKeyframeSearchRadius 50.0
algorithm-parameters loopClosureFrequency 1.0
algorithm-parameters surroundingKeyframeSize 50
algorithm-parameters historyKeyframeSearchRadius 15.0
algorithm-parameters historyKeyframeSearchTimeDiff 30.0
algorithm-parameters historyKeyframeSearchNum 25
algorithm-parameters historyKeyframeFitnessScore 0.3
algorithm-parameters gpsCovThreshold 2.0
algorithm-parameters poseCovThreshold 25.0
algorithm-parameters downsampleRate 2
algorithm-parameters pointCloudTopic points_raw
algorithm-parameters imuTopic imu_raw
algorithm-parameters savePCD False
algorithm-parameters savePCDDirectory /Downloads/LOAM/
algorithm-parameters loopClosureEnableFlag True
algorithm-parameters navsatfrequency 50
algorithm-parameters navsatwait_for_datum False
algorithm-parameters navsatdelay 0.0
algorithm-parameters navsatmagnetic_declination_radians 0
algorithm-parameters navsatyaw_offset 0
algorithm-parameters navsatzero_altitude True
algorithm-parameters navsatbroadcast_utm_transform False
algorithm-parameters navsatbroadcast_utm_transform_as_parent_frame False
algorithm-parameters navsatpublish_filtered_gps False
algorithm-parameters ekf_gpspublish_tf False
algorithm-parameters ekf_gpsfrequency 50
algorithm-parameters ekf_gpstwo_d_mode False
algorithm-parameters ekf_gpssensor_timeout 0.01
algorithm-parameters GpsElevation False
algorithm-parameters gpsTopic odometry/gpsz
dataset-parameters imuGyrNoise 0.0015636343949698187
dataset-parameters imuAccNoise 0.003993957088823881
dataset-parameters imuGyrBiasN 3.564031869636761e-05
dataset-parameters imuAccBiasN 6.435665935353257e-05
dataset-parameters imuGravity 9.80511
dataset-parameters sensor velodyne
dataset-parameters N_SCAN 64
dataset-parameters Horizon_SCAN 1800
dataset-parameters lidarMinRange 1.0
dataset-parameters lidarMaxRange 1000.0
dataset-parameters imuRPYWeight 0.01
dataset-parameters extrinsicTrans [-0.8086759, 0.3195559, -0.7997231]
dataset-parameters extrinsicRPY [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
dataset-parameters extrinsicRot [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
dataset-parameters lidar_frequency 10
dataset-parameters imu_frequency 100
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 6.148242876475755 5.5736688645968275 5.33418251354176 2.5952082490541644 0.7993791413333292 14.799191526349004 74089.74531754434
RPE 1.454421191664779 1.4377626602518563 1.4531710288732813 0.21949837254316842 0.9038407707974695 2.4135833309958956 452.68297459140945
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.848907109783001 2.3154357513491086 1312.38671875