Wiki Link
orb-slam3-ros-mono with MH_05_difficult
| 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 | 10 |
| 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 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 2 |
| dataset-resolution | /cam0/image_raw | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 1.0145747683962905 | 0.967317456301586 | 0.9176860259323425 | 0.30603741503387416 | 0.3661777719400841 | 1.5595991712934116 | 335.571999177242 |
| RPE | 1.1051256169655843 | 1.077721397648704 | 1.1165993614892538 | 0.2445796768410819 | 0.36588707419278443 | 1.5227511318178797 | 255.25224951817478 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.165736482367622 | 0.7947711093593287 | 802.47265625 |