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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 | 5 |
| 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 | 4 |
| dataset-resolution | /cam0/image_raw | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.17567635306542576 | 0.12997748628040195 | 0.0932146580321927 | 0.118186437828526 | 0.02356150851637877 | 1.1671785569570687 | 6.9748529119591955 |
| RPE | 1.0435637729668887 | 1.0001856488971625 | 1.0290486865673227 | 0.29774824262965954 | 0.35523240751950763 | 1.5941608707351231 | 103.45740808364437 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.030118684930613 | 0.5257708424282521 | 732.9140625 |