SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo-inertial with MH_04_difficult

Current mappingtask configuration id: 1113
  
Current mappingtask id: 1453
  


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 20
dataset-parameters width 601
dataset-parameters height 384
dataset-parameters fx 349.09731801
dataset-parameters fy 349.09731801
dataset-parameters cx 291.74860382
dataset-parameters cy 205.61695862
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 38.42787944
dataset-parameters ThDepth 75.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 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 [349.09731801, 0, 291.74860382, 0, 0, 349.09731801, 205.61695862, 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 [366.0696, 0.0, 303.9992, 0.0, 364.9072, 204.1904, 0.0, 0.0, 1.0]
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 [349.09731801, 0, 291.74860382, -38.42787944, 0, 349.09731801, 205.61695862, 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 1
dataset-frequency /imu0 1
dataset-frequency /cam1/image_raw 1
dataset-resolution /cam0/image_raw 0.8
dataset-resolution /cam1/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.04897860648437489 0.042844101768070554 0.04215872915750003 0.02373366463145679 0.0035207031550223097 0.10620778306287278 0.35983558397268744
RPE 1.1307988361902281 1.080469415412023 1.210279408476978 0.33360433193886474 0.06434051212171774 1.4388684674083163 67.77141842024625
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.197276165406783 1.6466690499294263 993.4375