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vins-mono with MH_02_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 | 601 |
| dataset-parameters | image_height | 384 |
| dataset-parameters | fx | 366.9232 |
| dataset-parameters | fy | 365.8368 |
| dataset-parameters | cx | 293.772 |
| dataset-parameters | cy | 198.7 |
| 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 | 20 |
| dataset-parameters | imu_frequency | 200 |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.14521211414070861 | 0.12073459296341112 | 0.10555265789453802 | 0.08068281201825843 | 0.013001692889546938 | 0.3031282827949932 | 19.230940981011337 |
| RPE | 0.05187467543197385 | 0.042384319488567815 | 0.034808894564148325 | 0.02990905235315292 | 0.0027992810759369853 | 0.21667963823960792 | 2.343845279471362 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.8488438811582464 | 1.1600735932127926 | 1156.43359375 |