SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_05_difficult

Current mappingtask configuration id: 1696
  
Current mappingtask id: 2136
  


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 2.0
dataset-parameters Camera_width 376
dataset-parameters Camera_height 240
dataset-parameters fx 218.32162852
dataset-parameters fy 218.32162852
dataset-parameters cx 182.34145927
dataset-parameters cy 128.59058762
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 24.03237374
dataset-parameters ThDepth 120
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 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 [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters RIGHT_K [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 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 [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 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 10
dataset-frequency /cam1/image_raw 10
dataset-resolution /cam0/image_raw 0.5
dataset-resolution /cam1/image_raw 0.5
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.453225019839157 0.36160089096515396 0.2703469187898029 0.27323563871027323 0.06275838751508102 1.4641399456083601 7.6002779885035565
RPE 0.7582075840398232 0.6843296145255822 0.6076766187863543 0.3264532419486346 0.18717699402952392 1.2106188968011684 10.3478173289191
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.0321459074093258 0.39691021016291 640.203125