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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 | 288 |
| dataset-parameters | Camera_width | 451 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 220.329 |
| dataset-parameters | cy | 149.025 |
| dataset-parameters | fps | 2.0 |
| dataset-parameters | fx | 275.1924 |
| dataset-parameters | fy | 274.3776 |
| 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 | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.1412407744223259 | 1.013246789617315 | 0.849425591010613 | 0.5251299349059001 | 0.3826621277154814 | 3.405312057989195 | 148.477077593264 |
| RPE | 0.8233777110303908 | 0.7827980552154974 | 0.8281209165226551 | 0.25529994079999513 | 0.3136173009941638 | 1.3213821413980664 | 27.11803420086583 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.02972080591512 | 0.27220446803587245 | 681.6484375 |