SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-mono with MH_04_difficult

Current mappingtask configuration id: 1514
  
Current mappingtask id: 1954
  


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 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 4
dataset-resolution /cam0/image_raw 0.5
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 2.285579503906596 2.0811565753564842 2.174178317856965 0.944807375885895 0.3983855404053951 4.997595749286045 1426.1175115490723
RPE 1.1822951290497574 1.1449390257274759 1.139676759955492 0.29484979148881996 0.22739265381479168 1.7794013050618689 209.6732658262174
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.7261484505663396 0.589584388115079 943.85546875