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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 | 2 |
| dataset-parameters | Camera_height | 384 |
| dataset-parameters | Camera_width | 601 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 293.772 |
| dataset-parameters | cy | 198.7 |
| dataset-parameters | fps | 10.0 |
| dataset-parameters | fx | 366.9232 |
| dataset-parameters | fy | 365.8368 |
| dataset-parameters | image_frequency | 10 |
| 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 | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0371240646425252 | 0.03381683348911151 | 0.029891999660958332 | 0.015317243497186297 | 0.010017090686395213 | 0.08695939677269737 | 0.22188958426876473 |
| RPE | 1.0129995292315357 | 0.9540844401854358 | 1.031639893425782 | 0.340427565304804 | 0.049233573981682856 | 1.46123647862143 | 52.33457035738897 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.2763711257230068 | 0.8663300803318705 | 734.421875 |