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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 | 10 |
| 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 | 2.0 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | image_frequency | 2 |
| 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 | 0.474110813422358 | 0.457511327989201 | 0.4302740928648294 | 0.12435613441068175 | 0.28963076419309625 | 1.1077799551737655 | 17.083360818704755 |
| RPE | 1.0878463310516098 | 1.0525469188196128 | 1.0502267441211277 | 0.2748720132457797 | 0.5665731383430482 | 1.4544467901242646 | 30.768650639543665 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.0228940679251333 | 0.26842918907080326 | 629.47265625 |