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orb-slam3-ros-mono with MH_02_easy
| 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 | 451 |
| dataset-parameters | height | 288 |
| dataset-parameters | newWidth | 360 |
| dataset-parameters | newHeight | 210 |
| dataset-parameters | fx | 275.1924 |
| dataset-parameters | fy | 274.3776 |
| dataset-parameters | cx | 220.329 |
| dataset-parameters | cy | 149.025 |
| 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 | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.050378067540029325 | 0.03850646761711443 | 0.03375599656744643 | 0.03248386739167421 | 0.005560575787289952 | 0.4016432557902923 | 0.5710386800402453 |
| RPE | 0.8918348366140698 | 0.8310427500572173 | 0.8668200161460603 | 0.3236314622773595 | 0.04125709555451198 | 1.3972511663959066 | 124.87299200035581 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.086219683041956 | 0.6271479088219645 | 828.58203125 |