SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-mono with MH_04_difficult

Current mappingtask configuration id: 1803
  
Current mappingtask id: 2243
  


Algorithm parameters
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 288
dataset-parameters Camera_width 451
dataset-parameters RGB 1
dataset-parameters cx 220.329
dataset-parameters cy 149.025
dataset-parameters fps 10.0
dataset-parameters fx 275.1924
dataset-parameters fy 274.3776
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 0.6
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.059141030767968436 0.05284524764908044 0.05170225633237527 0.02655261420661151 0.004451111006475583 0.14482070881839976 0.5981001199709219
RPE 1.1602829451011127 1.1292056905850112 1.2152321215475692 0.2667414872923596 0.518685754647976 1.503602621193687 82.12164727424323
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.1480142879089417 0.7447592011988875 731.02734375