SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_03_medium

Current mappingtask configuration id: 1218
  
Current mappingtask id: 1558
  


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 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]
algorithm-remap stereo_left /camera/left/image_raw
algorithm-remap stereo_right /camera/right/image_raw
dataset-remap /camera/left/image_raw /cam0/image_raw
dataset-remap /camera/right/image_raw /cam1/image_raw
dataset-frequency /cam0/image_raw 1
dataset-frequency /cam1/image_raw 1
dataset-resolution /cam0/image_raw 0.6
dataset-resolution /cam1/image_raw 0.6
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.04412893633274971 0.038536835265539075 0.03517676562866286 0.02150058951695467 0.004601075817698955 0.11482071499574545 0.19473630218598773
RPE 1.04808986445968 0.9187635340768399 1.1680566447937537 0.5043470357142448 0.04691839092637946 1.513067295450916 24.166832007628432
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.1550561582494083 0.8341619370518649 683.2890625