SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_03_medium

Current mappingtask configuration id: 1631
  
Current mappingtask id: 2071
  


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 5.0
dataset-parameters Camera_width 300
dataset-parameters Camera_height 192
dataset-parameters fx 174.76766437
dataset-parameters fy 174.76766437
dataset-parameters cx 146.12426758
dataset-parameters cy 102.93238449
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 19.208332272
dataset-parameters ThDepth 150
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [183.4616, 0.0, 146.886, 0.0, 182.9184, 99.35, 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 [174.497718256, 0, 146.12426758, 0, 0, 174.497718256, 102.93238449, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [183.0348, 0.0, 151.9996, 0.0, 182.4536, 102.0952, 0.0, 0.0, 0.5]
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 [174.76766437, 0, 146.12426758, -19.208332272, 0, 174.76766437, 102.93238449, 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 4
dataset-frequency /cam1/image_raw 4
dataset-resolution /cam0/image_raw 0.4
dataset-resolution /cam1/image_raw 0.4
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 1.1432889965051607 1.0276828744805406 0.8549650334626839 0.5009766851153759 0.04778010438352418 2.226080054879096 856.1568728420041
RPE 1.0306176496635349 0.9586484281666156 1.0475852818910532 0.3783727407883206 0.07336691846546665 1.8911047687640283 540.6459245571762
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.2558677570451249 0.8737900669897636 774.296875