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orb-slam3-ros-mono with MH_04_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 | 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 | 0.37073036471802373 | 0.3305841153864617 | 0.29802647887107325 | 0.1677949521830423 | 0.10918097917025733 | 1.0715957460456331 | 21.578237521861546 |
| RPE | 1.1728829602169393 | 1.1459038520230345 | 1.1897145374049611 | 0.25011757292525894 | 0.4404553495290971 | 1.7700211746632444 | 104.54973731591103 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.019683925910586 | 0.42977582851997254 | 708.046875 |