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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 | 20 |
| 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 | 1 |
| dataset-resolution | /cam0/image_raw | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.06611267694135381 | 0.05925550404717317 | 0.05483030635932467 | 0.029320151644683948 | 0.0028010994173653042 | 0.29210418672484606 | 1.2282189807108606 |
| RPE | 1.087256715995877 | 1.056929154107332 | 1.069171749524553 | 0.2550057443982362 | 0.5455921162787084 | 1.532271607691281 | 165.4978033069395 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.4434550834435687 | 0.9978804476719031 | 958.12109375 |