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 | 20 |
| dataset-parameters | Camera_height | 192 |
| dataset-parameters | Camera_width | 300 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 146.886 |
| dataset-parameters | cy | 99.35 |
| dataset-parameters | fps | 1.0 |
| dataset-parameters | fx | 183.4616 |
| dataset-parameters | fy | 182.9184 |
| dataset-parameters | image_frequency | 1 |
| 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 | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.01417930797092419 | 0.012629321624449961 | 0.016347042316888688 | 0.00644616241189398 | 0.0038945409611781173 | 0.020213389526956844 | 0.0014073694217402 |
| RPE | 0.09228418335687237 | 0.09141143701958923 | 0.09141143701958923 | 0.01266174079100147 | 0.07874969622858777 | 0.10407317781059071 | 0.01703274099568968 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0260107992996688 | 0.18780927796890065 | 581.0 |