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: 1361
  


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 9.309815441594932 7.702732787446402 6.049012692398183 5.228821201930469 0.9370417919442009 28.49960554555144 348250.76217025577
RPE 0.3053453702204178 0.18128763362425918 0.07564726010677161 0.24570427145241164 0.006030100692057306 2.0633417717545504 154.95789148120312
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.4840805907109873 1.431981183473867 1068.93359375