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: 1362
  


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 9.539459685695931 7.981284629754991 6.3297501735921085 5.224977201276063 1.1128807219504007 29.197437846617223 365097.17987321183
RPE 0.3010276719134182 0.17958231112586087 0.07686149255695117 0.2415943972618303 0.0038837298982448924 2.062844762754002 152.1470498935315
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.474280258880568 1.4546789281073307 1064.23828125