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orb-slam3-ros-stereo-inertial with MH_04_difficult
| 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 | 451 |
| dataset-parameters | height | 288 |
| dataset-parameters | fx | 261.91349264 |
| dataset-parameters | fy | 261.91349264 |
| dataset-parameters | cx | 218.81050873 |
| dataset-parameters | cy | 154.26602554 |
| 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 | 28.83087208 |
| dataset-parameters | ThDepth | 100.0 |
| dataset-parameters | LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| dataset-parameters | LEFT_K | [275.1924, 0.0, 220.329, 0.0, 274.3776, 149.025, 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 | [261.91349264, 0, 218.81050873, 0, 0, 261.91349264, 154.26602554, 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 | [274.5522, 0.0, 227.9994, 0.0, 273.6804, 153.1428, 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 | [261.91349264, 0, 218.81050873, -28.83087208, 0, 261.91349264, 154.26602554, 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 | 0.6 |
| dataset-resolution | /cam1/image_raw | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.05422267533629695 | 0.048494615605781555 | 0.04555355473891171 | 0.024256355411993637 | 0.011251824894697973 | 0.11125265143702734 | 0.4027934973256887 |
| RPE | 1.148866697483733 | 1.1157467912367722 | 1.1755935662752015 | 0.27386819171277615 | 0.5149946154757763 | 1.4557057484146725 | 44.876419411964086 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.1864661613958103 | 1.5839815865541598 | 855.3203125 |