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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 | 10.0 |
| dataset-parameters | fx | 458.654 |
| dataset-parameters | fy | 457.296 |
| dataset-parameters | cx | 367.215 |
| dataset-parameters | cy | 248.375 |
| 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 | 752 |
| dataset-parameters | Camera_height | 480 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 2 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.04638558058071206 | 0.04081343237474345 | 0.036706580787815135 | 0.022042817959643347 | 0.002615849071885211 | 0.08000079319788651 | 0.4152630625612782 |
| RPE | 0.99441087707784 | 0.9074003460802627 | 1.0186537811257033 | 0.40678938578106816 | 0.06424873045239747 | 1.4658820294687316 | 102.84071121487477 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.3926076185076814 | 0.9483452922341776 | 793.17578125 |