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vins-fusion-stereo-imu with MH_04_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 |
| algorithm-parameters | image1_topic | /cam1/image_raw |
| dataset-parameters | image_width | 300 |
| dataset-parameters | image_height | 192 |
| 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 | 20 |
| dataset-parameters | imu_frequency | 200 |
| dataset-parameters | cam0_fx | 183.4616 |
| dataset-parameters | cam0_fy | 182.9184 |
| dataset-parameters | cam0_cx | 146.886 |
| dataset-parameters | cam0_cy | 99.35 |
| dataset-parameters | cam1_fx | 183.0348 |
| dataset-parameters | cam1_fy | 182.4536 |
| dataset-parameters | cam1_cx | 151.9996 |
| dataset-parameters | cam1_cy | 102.0952 |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-frequency | /imu0 | 1 |
| dataset-frequency | /cam1/image_raw | 1 |
| dataset-resolution | /cam0/image_raw | 0.4 |
| dataset-resolution | /cam1/image_raw | 0.4 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.2319585229122668 | 0.21309019742748705 | 0.21358940602613882 | 0.09163691457024946 | 0.01866195564980064 | 0.4869421199740766 | 47.56340461485029 |
| RPE | 0.04598773599539449 | 0.03970053759132231 | 0.03602855953369694 | 0.023210755630571494 | 0.0036882693663206644 | 0.19579955243714245 | 1.759573389169109 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 0.9824658983687539 | 0.739505191995133 | 783.24609375 |