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orb-slam2-ros-mono with MH_01_easy
| 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 | 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 | Camera_width | 376 |
| dataset-parameters | Camera_height | 240 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.04876158104461515 | 0.04216083615230129 | 0.03469418491889999 | 0.024498075044978047 | 0.01122601925969877 | 0.09983616828343056 | 0.41847375433082057 |
| RPE | 0.9400470281759186 | 0.8660244326433844 | 0.930188303079296 | 0.36563656442850523 | 0.0651360512102639 | 1.517883555260824 | 64.50925430831346 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.6885227044414965 | 1.0964897669307152 | 838.25 |