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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 | 192 |
| dataset-parameters | Camera_width | 300 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 146.886 |
| dataset-parameters | cy | 99.35 |
| dataset-parameters | fps | 20.0 |
| dataset-parameters | fx | 183.4616 |
| dataset-parameters | fy | 182.9184 |
| 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 | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.09968971729479058 | 0.08875463089663373 | 0.08252469453005964 | 0.04539444050451084 | 0.0036591764370147322 | 0.19531690826977946 | 1.5801483177561275 |
| RPE | 1.1150412026855447 | 1.0547864326074932 | 1.1116587746185307 | 0.3615832757105669 | 0.11065133516311114 | 1.5497324899157594 | 47.24604158008418 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.4559804322240477 | 0.9705098070299882 | 777.84765625 |