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vins-fusion-stereo-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 |
| algorithm-parameters | image1_topic | /cam1/image_raw |
| dataset-parameters | image_width | 752 |
| dataset-parameters | image_height | 480 |
| 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 | 458.654 |
| dataset-parameters | cam0_fy | 457.296 |
| dataset-parameters | cam0_cx | 367.215 |
| dataset-parameters | cam0_cy | 248.375 |
| dataset-parameters | cam1_fx | 457.587 |
| dataset-parameters | cam1_fy | 456.134 |
| dataset-parameters | cam1_cx | 379.999 |
| dataset-parameters | cam1_cy | 255.238 |
| dataset-frequency | /cam0/image_raw | 20 |
| dataset-frequency | /imu0 | 1 |
| dataset-frequency | /cam1/image_raw | 20 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| dataset-resolution | /cam1/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 6.918358390050669 | 6.336298526724934 | 5.714516035793754 | 2.777589565326003 | 0.7514654568059264 | 11.03516847107068 | 1770.9562640878255 |
| RPE | 11.150069275057628 | 9.265206578496251 | 6.651170247792887 | 6.203224314529818 | 1.9965607846027622 | 21.718093810152595 | 2983.777076126019 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 0.38675512989495225 | 0.1860884933837826 | 551.09375 |