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orb-slam3-ros-mono with MH_04_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 | 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 |
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 |
Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
---|---|---|
2.7261484505663396 | 0.589584388115079 | 943.85546875 |