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vins-fusion-stereo-imu 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 | 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 |
| algorithm-parameters | image1_topic | /cam1/image_raw |
| dataset-parameters | image_width | 451 |
| dataset-parameters | image_height | 288 |
| dataset-parameters | cam0_k1 | -0.28340811 |
| dataset-parameters | cam0_k2 | 0.07395907 |
| dataset-parameters | cam0_p1 | 0.00019359 |
| dataset-parameters | cam0_p2 | 1.76187114e-05 |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | image0_topic | /cam0/image_raw |
| 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 | body_T_cam1 | [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0, 0, 0, 1] |
| dataset-parameters | cam1_calib | cam1_pinhole.yaml |
| dataset-parameters | cam1_p1 | 0.00019359 |
| dataset-parameters | cam1_p2 | 1.76187114e-05 |
| dataset-parameters | cam1_k1 | -0.28340811 |
| dataset-parameters | cam1_k2 | 0.07395907 |
| dataset-parameters | gyr_n | 0.01 |
| dataset-parameters | acc_n | 0.1 |
| dataset-parameters | gyr_w | 0.0001 |
| dataset-parameters | acc_w | 0.001 |
| dataset-parameters | imu_topic | /imu0 |
| dataset-parameters | g_norm | 9.81007 |
| dataset-parameters | image_frequency | 1 |
| 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-parameters | cam1_fx | 274.5522 |
| dataset-parameters | cam1_fy | 273.6804 |
| dataset-parameters | cam1_cx | 227.9994 |
| dataset-parameters | cam1_cy | 153.1428 |
| dataset-frequency | /cam0/image_raw | 20 |
| dataset-frequency | /imu0 | 1 |
| dataset-frequency | /cam1/image_raw | 20 |
| dataset-resolution | /cam0/image_raw | 0.6 |
| dataset-resolution | /cam1/image_raw | 0.6 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 3.3538867038174915 | 2.6909669034883206 | 2.1701264319306475 | 2.0018124653359117 | 0.16266687689691034 | 8.383135071319753 | 776.1503655210192 |
| RPE | 4.951975494366263 | 4.1914387774476705 | 3.6422439245540805 | 2.6370252694488836 | 0.25462213543950146 | 11.249976471132374 | 1495.8457391050433 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.1291771884893493 | 0.17138248091525476 | 550.015625 |