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orb-slam2-ros-mono with MH_05_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 | 2 |
| 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 | 10.0 |
| dataset-parameters | fx | 366.9232 |
| dataset-parameters | fy | 365.8368 |
| 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 | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.058776550737390694 | 0.05326306963739719 | 0.0512791207394961 | 0.02485414109131194 | 0.005373616373602708 | 0.12168331455274962 | 0.6702084858175021 |
| RPE | 1.1167449785400967 | 1.086353295035423 | 1.1264035062065747 | 0.2587583147653424 | 0.5409301062436156 | 1.4816200115889244 | 94.78107037918357 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.9734424084317757 | 0.8544713168026936 | 843.03125 |