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orb-slam3-ros-mono with MH_03_medium
| 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 | 300 |
| dataset-parameters | height | 192 |
| dataset-parameters | newWidth | 240 |
| dataset-parameters | newHeight | 140 |
| dataset-parameters | fx | 183.4616 |
| dataset-parameters | fy | 182.9184 |
| dataset-parameters | cx | 146.886 |
| dataset-parameters | cy | 99.35 |
| 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 | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 2.329097993458706 | 2.2172755963458655 | 2.227449746174683 | 0.7130121969380724 | 0.07455183901872638 | 4.024020028258246 | 1833.5477425390793 |
| RPE | 2.0059061046974063 | 1.8475567506869588 | 1.9263190154505132 | 0.7811487399038474 | 0.21816924208236183 | 3.140079770945128 | 901.2996833931602 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.292646510310738 | 0.9943204797893881 | 908.38671875 |