SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-mono with MH_05_difficult

Current mappingtask configuration id: 1551
  
Current mappingtask id: 2397
  


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 1
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 20
dataset-resolution /cam0/image_raw 0.6
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.027269446988801266 0.02612799304936575 0.027562329116561576 0.007807094100069341 0.012665920298220654 0.03801116029098721 0.0066926046516753825
RPE 0.8773730923820955 0.8343588355031675 0.6584759512120909 0.2713464148536319 0.6269323316204208 1.2176682236769907 2.309350629708363
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.0316011594708145 0.18942363136977233 608.12109375