SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_03_medium

Current mappingtask configuration id: 1617
  
Current mappingtask id: 2057
  


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 20.0
dataset-parameters Camera_width 451
dataset-parameters Camera_height 288
dataset-parameters fx 261.91349264
dataset-parameters fy 261.91349264
dataset-parameters cx 218.81050873
dataset-parameters cy 154.26602554
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 28.83087208
dataset-parameters ThDepth 100
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [275.1924, 0.0, 220.329, 0.0, 274.3776, 149.025, 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 [261.91349264, 0, 218.81050873, 0, 0, 261.91349264, 154.26602554, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [274.5522, 0.0, 227.9994, 0.0, 273.6804, 153.1428, 0.0, 0.0, 1.0]
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 [261.91349264, 0, 218.81050873, -28.83087208, 0, 261.91349264, 154.26602554, 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 1
dataset-frequency /cam1/image_raw 1
dataset-resolution /cam0/image_raw 0.6
dataset-resolution /cam1/image_raw 0.6
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.06610392331576637 0.05046323736724736 0.04435767496854809 0.042698833147447594 0.003993250991462916 0.47624213399700815 11.247681616494319
RPE 1.0020483769955895 0.9369247155830257 1.032084272014686 0.35534916233074365 0.03056684740655039 1.5061635850978432 2471.092437554997
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.807619515388656 1.9268800926470413 758.23828125