SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_03_medium

Current mappingtask configuration id: 1225
  
Current mappingtask id: 1565
  


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 752
dataset-parameters height 480
dataset-parameters fx 436.24429564
dataset-parameters fy 436.24429564
dataset-parameters cx 364.44123459
dataset-parameters cy 256.95167542
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 48.02083068
dataset-parameters ThDepth 60.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 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 [436.24429564, 0.0, 364.44123459, 0.0, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]
dataset-parameters bFishEye 0
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
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 [436.24429564, 0.0, 364.44123459, -48.02083068, 0.0, 436.24429564, 256.95167542, 0.0, 0.0, 0.0, 1.0, 0.0]
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 4
dataset-frequency /cam1/image_raw 4
dataset-resolution /cam0/image_raw 1.0
dataset-resolution /cam1/image_raw 1.0
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.23164559699164317 0.18758359121150678 0.12372848543436779 0.13591202637665695 0.02163234239289975 0.6568761867103291 10.088020329855576
RPE 0.9313243491269466 0.866931352045346 0.8350390320980629 0.34028675278000337 0.263393716314193 1.4789420733687761 78.9302189381825
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.2410470430415537 0.6630807605617607 821.56640625