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orb-slam3-ros-mono with MH_02_easy
| 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 | 2 |
| dataset-parameters | width | 376 |
| dataset-parameters | height | 240 |
| dataset-parameters | newWidth | 300 |
| dataset-parameters | newHeight | 175 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | cx | 183.6075 |
| dataset-parameters | cy | 124.1875 |
| 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 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 10 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.42888664912059 | 0.8831659231793457 | 0.60265044276156 | 1.1232697842325514 | 0.11246835120316089 | 6.121316022069486 | 343.00846541389143 |
| RPE | 1.106942018459845 | 0.9892720417051502 | 0.940343289193283 | 0.49665023883260073 | 0.21423365309881787 | 3.0372206522420706 | 120.08142195873167 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.027020177413247 | 0.2605515466604198 | 697.72265625 |