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vins-mono 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 | equalize | 1 |
| algorithm-parameters | max_solver_time | 0.04 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | loop_closure | 1 |
| algorithm-parameters | fast_relocalization | 0 |
| algorithm-parameters | show_track | 1 |
| algorithm-parameters | fisheye | 0 |
| algorithm-parameters | load_previous_pose_graph | 0 |
| algorithm-parameters | save_image | 1 |
| algorithm-parameters | visualize_imu_forward | 0 |
| algorithm-parameters | visualize_camera_size | 0.4 |
| dataset-parameters | image_width | 752 |
| dataset-parameters | image_height | 480 |
| dataset-parameters | fx | 461.6 |
| dataset-parameters | fy | 460.3 |
| dataset-parameters | cx | 363.0 |
| dataset-parameters | cy | 248.1 |
| dataset-parameters | k1 | -0.2917 |
| dataset-parameters | k2 | 0.08228 |
| dataset-parameters | p1 | 5.333e-05 |
| dataset-parameters | p2 | -0.0001578 |
| 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 | model_type | PINHOLE |
| dataset-parameters | camera_name | camera |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | extrinsicRotation | [0.0148655429818, -0.999880929698, 0.00414029679422, 0.999557249008, 0.0149672133247, 0.025715529948, -0.0257744366974, 0.00375618835797, 0.999660727178] |
| dataset-parameters | extrinsicTranslation | [-0.0216401454975, 0.064676986768, 0.00981073058949] |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | rolling_shutter | 0 |
| dataset-parameters | rolling_shutter_tr | 0 |
| dataset-parameters | image_topic | /cam0/image_raw |
| dataset-parameters | imu_topic | /imu0 |
| dataset-parameters | g_norm | 9.81007 |
| dataset-parameters | image_frequency | 20 |
| dataset-parameters | imu_frequency | 200 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.12295755662405941 | 0.10449456352792102 | 0.08875444839040102 | 0.0648031397701381 | 0.012983947823444706 | 0.29845060486652353 | 15.284864898999324 |
| RPE | 0.05784591048838444 | 0.04714388639511191 | 0.038795179575489655 | 0.033520192955813474 | 0.0019160901467802924 | 0.19728597849542692 | 3.2591494768642 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.1796873112173847 | 1.4474687909104633 | 1593.53125 |