SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_04_difficult

Current mappingtask configuration id: 1243
  
Current mappingtask id: 1583
  


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]
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 0.8
dataset-resolution /cam1/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.16163950776700908 0.14900240584765706 0.1544354951136828 0.06265471668414978 0.017191219055319257 0.2910103138177951 4.049736223029953
RPE 1.0728983244722126 1.0116497897743808 1.1556904712408749 0.3573171105680956 0.1649026201190386 1.5231294849431074 63.31109480604047
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.3714338503066994 0.9646821829792491 713.03125