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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 | 192 |
| dataset-parameters | Camera_width | 300 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 146.886 |
| dataset-parameters | cy | 99.35 |
| dataset-parameters | fps | 5.0 |
| dataset-parameters | fx | 183.4616 |
| dataset-parameters | fy | 182.9184 |
| 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 | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.8711187313592975 | 0.6890479995026597 | 0.46727555716788716 | 0.5329734500952321 | 0.16012004304331812 | 2.3237585108813708 | 136.59261194250575 |
| RPE | 1.2630586213810522 | 1.23347006513728 | 1.31844237997611 | 0.27178793103307153 | 0.5062360673368843 | 1.7294369241151302 | 114.86282983524028 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.2723783782405729 | 0.5428429980236271 | 761.02734375 |