SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_02_easy

Current mappingtask configuration id: 1197
  
Current mappingtask id: 1666
  


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 10
dataset-parameters width 300
dataset-parameters height 192
dataset-parameters fx 174.76766437
dataset-parameters fy 174.76766437
dataset-parameters cx 146.12426758
dataset-parameters cy 102.93238449
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 19.208332272
dataset-parameters ThDepth 150.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [183.4616, 0.0, 146.886, 0.0, 182.9184, 99.35, 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 [174.497718256, 0, 146.12426758, 0, 0, 174.497718256, 102.93238449, 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 [183.0348, 0.0, 151.9996, 0.0, 182.4536, 102.0952, 0.0, 0.0, 0.5]
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 [174.76766437, 0, 146.12426758, -19.208332272, 0, 174.76766437, 102.93238449, 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 2
dataset-frequency /cam1/image_raw 2
dataset-resolution /cam0/image_raw 0.4
dataset-resolution /cam1/image_raw 0.4
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.1038194803995776 0.08006684158461543 0.042070665017548706 0.0660892229421891 0.016346020233867404 0.2917553200843506 0.8299433073037472
RPE 0.5927619303800984 0.4565334879219685 0.3579959105525333 0.3780791987318826 0.04856641209676086 1.3331435609828222 12.64920141988586
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.0337138050024137 0.5742855109187969 650.48828125