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orb-slam2-ros-mono with MH_04_difficult
| 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 | 384 |
| dataset-parameters | Camera_width | 601 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 293.772 |
| dataset-parameters | cy | 198.7 |
| dataset-parameters | fps | 20.0 |
| dataset-parameters | fx | 366.9232 |
| dataset-parameters | fy | 365.8368 |
| 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 | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.05089206653073728 | 0.04615835434059449 | 0.04437649202217117 | 0.021433822812020983 | 0.0048585554865216846 | 0.12629433856955916 | 0.4636104360026492 |
| RPE | 1.1485902548623679 | 1.1246852343719271 | 1.183999561625197 | 0.23311520145748238 | 0.5687617547718212 | 1.5048010778248655 | 94.98668929666555 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.5733011592406474 | 1.0358391366413353 | 778.80078125 |