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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 | 192 |
| dataset-parameters | Camera_width | 300 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | cx | 146.886 |
| dataset-parameters | cy | 99.35 |
| dataset-parameters | fps | 10.0 |
| dataset-parameters | fx | 183.4616 |
| dataset-parameters | fy | 182.9184 |
| 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 | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.2941413966092319 | 0.21797129817961772 | 0.1619122754973994 | 0.1975036059648573 | 0.011025566500271151 | 1.140472172507284 | 16.611678950252053 |
| RPE | 1.1658272106735295 | 1.1253273665101942 | 1.2008966841115654 | 0.3046168139319526 | 0.12598066575845565 | 1.7030753783723036 | 104.65478755630531 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.044572593418857 | 0.7280255717797264 | 839.94921875 |