SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-mono-inertial with MH_05_difficult

Current mappingtask configuration id: 1399
  
Current mappingtask id: 2318
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters nFeatures 1000
algorithm-parameters scaleFactor 1.2
algorithm-parameters nLevels 8
algorithm-parameters iniThFAST 20
algorithm-parameters minThFAST 7
dataset-parameters fps 20
dataset-parameters width 601
dataset-parameters height 384
dataset-parameters newWidth 480
dataset-parameters newHeight 280
dataset-parameters fx 366.9232
dataset-parameters fy 365.8368
dataset-parameters cx 293.772
dataset-parameters cy 198.7
dataset-parameters k1 -0.28340811
dataset-parameters k2 0.07395907
dataset-parameters p1 0.00019359
dataset-parameters p2 1.76187114e-05
dataset-parameters RGB 1
dataset-parameters useNewWidth Camera.newWidth
dataset-parameters useNewHeight Camera.newHeight
dataset-parameters NoiseGyro 0.00017
dataset-parameters NoiseAcc 0.002
dataset-parameters GyroWalk 1.9393e-05
dataset-parameters AccWalk 0.003
dataset-parameters T_b_c1 [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0.0, 0.0, 0.0, 1.0]
dataset-parameters Frequency 200
algorithm-remap mono_topic /camera/image_raw
algorithm-remap imu_topic /imu
dataset-remap /camera/image_raw /cam0/image_raw
dataset-remap /imu /imu0
dataset-frequency /cam0/image_raw 1
dataset-frequency /imu0 1
dataset-resolution /cam0/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.058853030829335504 0.05401682390883573 0.05105667948232538 0.023363689190719617 0.01633670989905281 0.1807566624667399 0.571507074236788
RPE 1.1483425352757288 1.120371942809973 1.1985809628258854 0.2519073005843512 0.5477021166853752 1.507210194828073 126.5942955190549
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.447508624832406 0.8042577819124004 842.6328125