Wiki Link
orb-slam2-ros-mono with MH_01_easy
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | iniThFAST | 20 |
| algorithm-parameters | minThFAST | 7 |
| algorithm-parameters | nFeatures | 1000 |
| algorithm-parameters | nLevels | 8 |
| algorithm-parameters | scaleFactor | 1.2 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-frequency | /cam0/image_raw | 4 |
| dataset-parameters | Camera_height | 240 |
| dataset-parameters | Camera_width | 376 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 183.6075 |
| dataset-parameters | cy | 124.1875 |
| dataset-parameters | fps | 5.0 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | image_frequency | 5 |
| dataset-parameters | k1 | -0.28340811 |
| dataset-parameters | k2 | 0.07395907 |
| dataset-parameters | p1 | 0.00019359 |
| dataset-parameters | p2 | 1.76187114e-05 |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-resolution | /cam0/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.04608889653115616 | 0.043073162048758634 | 0.044297246840344764 | 0.016397838106927295 | 0.009420538974401602 | 0.129151339410118 | 0.37173261710543315 |
| RPE | 0.9990110168805472 | 0.9321692272488022 | 1.0188331437604288 | 0.359281983432339 | 0.15074709193193211 | 1.442242737787681 | 83.8339329952912 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.1620823047903526 | 0.7301497379138427 | 770.84375 |