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orb-slam3-ros-mono-inertial with MH_05_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 | 5 |
| dataset-parameters | width | 752 |
| dataset-parameters | height | 480 |
| dataset-parameters | newWidth | 600 |
| dataset-parameters | newHeight | 350 |
| dataset-parameters | fx | 458.654 |
| dataset-parameters | fy | 457.296 |
| dataset-parameters | cx | 367.215 |
| dataset-parameters | cy | 248.375 |
| dataset-parameters | k1 | -0.28340811 |
| dataset-parameters | k2 | 0.07395907 |
| dataset-parameters | p1 | 0.00019359 |
| dataset-parameters | p2 | 1.76187114e-05 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | useNewWidth | Camera.newWidth |
| dataset-parameters | useNewHeight | Camera.newHeight |
| 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 | mono_topic | /camera/image_raw |
| algorithm-remap | imu_topic | /imu |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-remap | /imu | /imu0 |
| dataset-frequency | /cam0/image_raw | 4 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.06986292131184454 | 0.06465892757716957 | 0.06248762278557528 | 0.026458474234077132 | 0.011454495609991226 | 0.1304967495892602 | 1.3861550878798954 |
| RPE | 1.1160291875114885 | 1.0809770229916438 | 1.1368145766697466 | 0.27750643801842884 | 0.29306407899247416 | 1.5217761145617466 | 200.52890472778608 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.1434319123411214 | 0.7002586227477665 | 788.3515625 |