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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 | 91.5174 |
| dataset-parameters | fy | 91.2268 |
| dataset-parameters | cx | 75.9998 |
| dataset-parameters | cy | 51.0476 |
| 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 | 150 |
| dataset-parameters | Camera_height | 96 |
| 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 | 0.2 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.0548158625422652 | 0.9087601169271858 | 0.7600627161588527 | 0.5355292277301685 | 0.21758753908258366 | 2.3941183434710682 | 244.78003085157226 |
| RPE | 0.8434917843017724 | 0.7921583810813586 | 0.7885139728799233 | 0.2897645414248416 | 0.23524616505031895 | 2.404060812179816 | 97.47253945528851 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0335462361336565 | 0.14461097779915996 | 572.94140625 |