SLAM Hive: A SLAM Evaluation Benchmark System

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vins-fusion-mono-imu with MH_03_medium

Current mappingtask configuration id: 2071
  
Current mappingtask id: 2863
  


Algorithm parameters
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 601
dataset-parameters image_height 384
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 20
dataset-parameters imu_frequency 200
dataset-parameters cam0_fx 366.9232
dataset-parameters cam0_fy 365.8368
dataset-parameters cam0_cx 293.772
dataset-parameters cam0_cy 198.7
dataset-frequency /cam0/image_raw 1
dataset-frequency /imu0 1
dataset-resolution /cam0/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.06282087422606727 0.05595185161529356 0.048916913878837225 0.02856313251986789 0.0030713213656727105 0.13766264368166614 3.8517471448027067
RPE 0.035793124146834034 0.029862136492230656 0.02752837847556067 0.019733234410761448 0.001851405269893649 0.16136038647453835 1.1735313263506573
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.9279626494695368 1.128154010607761 1166.234375