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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 | 5 |
| 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 | 4 |
| dataset-resolution | /cam0/image_raw | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.0755344279163752 | 0.06684366158908772 | 0.05657926087180578 | 0.0351763373024765 | 0.009166718589221242 | 0.1808933929973544 | 1.3807188517582878 |
| RPE | 1.0788999398693617 | 1.046445245854732 | 1.0993801315048528 | 0.26263554153644497 | 0.24904137217208 | 1.511120743947825 | 139.6830096300135 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.5360447041429999 | 0.6609358261924212 | 885.69140625 |