SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo-inertial with MH_01_easy

Current mappingtask configuration id: 567
  
Current mappingtask id: 1366
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters nFeatures 1000
algorithm-parameters scaleFactor 1.2
algorithm-parameters nLevels 8
algorithm-parameters iniThFAST 20
algorithm-parameters minThFAST 7
dataset-parameters fps 5
dataset-parameters width 376
dataset-parameters height 240
dataset-parameters fx 218.32162852
dataset-parameters fy 218.32162852
dataset-parameters cx 182.34145927
dataset-parameters cy 128.59058762
dataset-parameters k1 0.0
dataset-parameters k2 0.0
dataset-parameters p1 0.0
dataset-parameters p2 0.0
dataset-parameters RGB 1
dataset-parameters bf 24.03237374
dataset-parameters ThDepth 120.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0]
dataset-parameters LEFT_R [0.99996635, -0.00142274, 0.00807958, 0.00136574, 0.99997418, 0.00705563, -0.00808941, -0.00704436, 0.99994247]
dataset-parameters LEFT_P [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
dataset-parameters bFishEye 0
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 0.5]
dataset-parameters RIGHT_R [0.99996335, -0.00362581, 0.00775544, 0.0036804, 0.99996848, -0.00703585, -0.00772969, 0.00706413, 0.99994517]
dataset-parameters RIGHT_P [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
dataset-parameters NoiseGyro 0.00017
dataset-parameters NoiseAcc 0.002
dataset-parameters GyroWalk 1.9393e-05
dataset-parameters AccWalk 0.003
dataset-parameters T_b_c1 [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0]
dataset-parameters Frequency 200
algorithm-remap stereo_left /camera/left/image_raw
algorithm-remap stereo_right /camera/right/image_raw
algorithm-remap imu_topic /imu
dataset-remap /camera/left/image_raw /cam0/image_raw
dataset-remap /camera/right/image_raw /cam1/image_raw
dataset-remap /imu /imu0
dataset-frequency /cam0/image_raw 4
dataset-frequency /imu0 1
dataset-frequency /cam1/image_raw 4
dataset-resolution /cam0/image_raw 0.5
dataset-resolution /cam1/image_raw 0.5
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.04652236528985783 0.04161446639262659 0.037621490793612836 0.02079823692094884 0.005000356200818451 0.09834843372931117 0.25106233477090434
RPE 0.9781804078867182 0.8957133524272842 1.0777045248481056 0.3931087644112023 0.15277837907169511 1.4122024672633275 30.61878113194965
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.7791615492398887 1.4397615514949413 830.1328125