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vins-mono with MH_01_easy
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | max_cnt | 150 |
| algorithm-parameters | min_dist | 30 |
| algorithm-parameters | freq | 10 |
| algorithm-parameters | F_threshold | 1.0 |
| algorithm-parameters | equalize | 1 |
| algorithm-parameters | max_solver_time | 0.04 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | loop_closure | 1 |
| algorithm-parameters | fast_relocalization | 0 |
| algorithm-parameters | show_track | 1 |
| algorithm-parameters | fisheye | 0 |
| algorithm-parameters | load_previous_pose_graph | 0 |
| algorithm-parameters | save_image | 1 |
| algorithm-parameters | visualize_imu_forward | 0 |
| algorithm-parameters | visualize_camera_size | 0.4 |
| dataset-parameters | image_width | 376 |
| dataset-parameters | image_height | 240 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | cx | 183.6075 |
| dataset-parameters | cy | 124.1875 |
| dataset-parameters | k1 | -0.2917 |
| dataset-parameters | k2 | 0.08228 |
| dataset-parameters | p1 | 5.333e-05 |
| dataset-parameters | p2 | -0.0001578 |
| dataset-parameters | gyr_n | 0.004 |
| dataset-parameters | acc_n | 0.08 |
| dataset-parameters | gyr_w | 2e-06 |
| dataset-parameters | acc_w | 4e-05 |
| dataset-parameters | model_type | PINHOLE |
| dataset-parameters | camera_name | camera |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | extrinsicRotation | [0.0148655429818, -0.999880929698, 0.00414029679422, 0.999557249008, 0.0149672133247, 0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178] |
| dataset-parameters | extrinsicTranslation | [-0.0216401454975, 0.064676986768, 0.00981073058949] |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | rolling_shutter | 0 |
| dataset-parameters | rolling_shutter_tr | 0 |
| dataset-parameters | image_topic | /cam0/image_raw |
| dataset-parameters | imu_topic | /imu0 |
| dataset-parameters | g_norm | 9.81007 |
| dataset-parameters | fps | 2 |
| dataset-parameters | imu_frequency | 200 |
| dataset-frequency | /cam0/image_raw | 10 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.1274153282908499 | 0.11423089063424137 | 0.09187259272851403 | 0.05644439306408601 | 0.02771529195734482 | 0.27080994560743654 | 0.7467946306393922 |
| RPE | 0.1479090426633119 | 0.1332309433898033 | 0.11929467313716768 | 0.06423862253380322 | 0.048524267448740756 | 0.33323253560960664 | 0.7438208866536322 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.034005385640591 | 0.1863918554695318 | 562.74609375 |