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orb-slam2-ros-mono with MH_03_medium
| 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 | 1 |
| 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 | 20.0 |
| dataset-parameters | fx | 275.1924 |
| dataset-parameters | fy | 274.3776 |
| dataset-parameters | image_frequency | 20 |
| 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 | 0.045116662801544846 | 0.041270116260499 | 0.037435442533987034 | 0.018228844346068588 | 0.003705981330057469 | 0.10298676485121343 | 0.3297531485004247 |
| RPE | 0.9819904770923233 | 0.9147557885158634 | 0.9644809091085897 | 0.35710942927445855 | 0.09224584250140068 | 1.5020881779220077 | 41.46512777530038 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.4928245030479501 | 1.0029455220705454 | 758.921875 |