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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 | 20 |
| 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 | 1.0 |
| dataset-parameters | fx | 458.654 |
| dataset-parameters | fy | 457.296 |
| dataset-parameters | image_frequency | 1 |
| 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 | 0.9074000883216373 | 0.8054911750056761 | 0.834004250602763 | 0.41780245005754846 | 0.14495188999454447 | 1.5343708187131875 | 13.997373644863957 |
| RPE | 0.9685064732415702 | 0.9317765177799593 | 0.9317765177799593 | 0.26419180461300734 | 0.667584713166952 | 1.1959683223929667 | 1.8760095774216488 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0335115012162956 | 0.20311459200584941 | 592.7421875 |