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orb-slam2-ros-mono with MH_02_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 | 10 |
| dataset-parameters | Camera_height | 480 |
| dataset-parameters | Camera_width | 752 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 367.215 |
| dataset-parameters | cy | 248.375 |
| dataset-parameters | fps | 2.0 |
| dataset-parameters | fx | 458.654 |
| dataset-parameters | fy | 457.296 |
| dataset-parameters | image_frequency | 2 |
| 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 | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.02891792080428863 | 0.025380687561987917 | 0.02203634011785285 | 0.013858818222484236 | 0.0011298422622794892 | 0.07446389482347072 | 0.056028491624088315 |
| RPE | 0.8337967824982566 | 0.7853027987848019 | 0.8309379496887974 | 0.28020811680820773 | 0.21223837919525307 | 1.334792508105546 | 19.466078086124465 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0308739743436697 | 0.27918158577592705 | 627.37109375 |