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vins-fusion-mono-imu with MH_05_difficult
| 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 | 5 |
| 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 | 4 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 0.8 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 6.920579909860053 | 6.3120559157924125 | 5.959466955658118 | 2.837670947215092 | 0.6722176526285831 | 12.383997778181145 | 11734.134440745853 |
| RPE | 9.959624390865661 | 9.521183516573752 | 9.461749642976347 | 2.922530145413475 | 1.9972120160489202 | 14.694178420259979 | 20037.211837439492 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 0.8781929068533972 | 0.39837618017870463 | 658.46484375 |