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vins-fusion-mono-imu 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 | max_solver_time | 0.04 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | show_track | 1 |
| algorithm-parameters | flow_back | 1 |
| dataset-parameters | image_width | 451 |
| dataset-parameters | image_height | 288 |
| dataset-parameters | k1 | -0.28340811 |
| dataset-parameters | k2 | 0.07395907 |
| dataset-parameters | p1 | 0.00019359 |
| dataset-parameters | p2 | 1.76187114e-05 |
| 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 | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | image0_topic | /cam0/image_raw |
| dataset-parameters | imu_topic | /imu0 |
| dataset-parameters | body_T_cam0 | [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0, 0, 0, 1] |
| dataset-parameters | cam0_calib | cam0_pinhole.yaml |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | g_norm | 9.81007 |
| dataset-parameters | image_frequency | 2 |
| dataset-parameters | imu_frequency | 200 |
| dataset-parameters | cam0_fx | 275.1924 |
| dataset-parameters | cam0_fy | 274.3776 |
| dataset-parameters | cam0_cx | 220.329 |
| dataset-parameters | cam0_cy | 149.025 |
| dataset-frequency | /cam0/image_raw | 10 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.15739818248746776 | 0.14124928886609808 | 0.13124446836212308 | 0.06944657115495176 | 0.01641263453825731 | 0.38079100373140634 | 1.9076124644775816 |
| RPE | 0.07287125232137215 | 0.06295591751964229 | 0.056666411180359866 | 0.0366983904843943 | 0.018543146267827982 | 0.16894598774856714 | 0.12744526595724204 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 0.7819236311162276 | 0.19909919762175063 | 548.5 |