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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 | 4 |
| dataset-parameters | Camera_height | 240 |
| dataset-parameters | Camera_width | 376 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 183.6075 |
| dataset-parameters | cy | 124.1875 |
| dataset-parameters | fps | 5.0 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | image_frequency | 5 |
| 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 | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.2653551698825495 | 0.23802131816453337 | 0.20126679289717256 | 0.11729969429889694 | 0.09350072269435927 | 0.6723835941728757 | 11.266138589343472 |
| RPE | 1.1711687724262643 | 1.1381653075183662 | 1.2374120539625495 | 0.27607250183251947 | 0.5060879758853541 | 1.5231304631586622 | 71.32508726233503 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.1050621700222711 | 0.5722787602584033 | 709.34375 |