SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_04_difficult

Current mappingtask configuration id: 1646
  
Current mappingtask id: 2086
  


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 601
dataset-parameters Camera_height 384
dataset-parameters fx 349.09731801
dataset-parameters fy 349.09731801
dataset-parameters cx 291.74860382
dataset-parameters cy 205.61695862
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 38.42787944
dataset-parameters ThDepth 75
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 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 [349.09731801, 0, 291.74860382, 0, 0, 349.09731801, 205.61695862, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [366.0696, 0.0, 303.9992, 0.0, 364.9072, 204.1904, 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 [349.09731801, 0, 291.74860382, -38.42787944, 0, 349.09731801, 205.61695862, 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 0.8
dataset-resolution /cam1/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.18327692287876357 0.17392205000187894 0.18834792206426426 0.05780615004523458 0.024073454332134224 0.32941973710700106 64.62798820486347
RPE 1.0381385084834245 0.9829613866452037 1.0465053981991201 0.3339438203661322 0.031201745630381267 1.4703962881364063 1958.2382496006762
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.32890815076082 2.197127376034434 782.09765625