SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-mono-inertial with MH_01_easy

Current mappingtask configuration id: 277
  
Current mappingtask id: 3331
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters nFeatures 1000
algorithm-parameters scaleFactor 1.2
algorithm-parameters nLevels 8
algorithm-parameters iniThFAST 20
algorithm-parameters minThFAST 7
dataset-parameters fps 20
dataset-parameters width 752
dataset-parameters height 480
dataset-parameters newWidth 600
dataset-parameters newHeight 350
dataset-parameters fx 458.654
dataset-parameters fy 457.296
dataset-parameters cx 367.215
dataset-parameters cy 248.375
dataset-parameters k1 -0.28340811
dataset-parameters k2 0.07395907
dataset-parameters p1 0.00019359
dataset-parameters p2 1.76187114e-05
dataset-parameters RGB 1
dataset-parameters useNewWidth Camera.newWidth
dataset-parameters useNewHeight Camera.newHeight
dataset-parameters NoiseGyro 0.00017
dataset-parameters NoiseAcc 0.002
dataset-parameters GyroWalk 1.9393e-05
dataset-parameters AccWalk 0.003
dataset-parameters T_b_c1 [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, 0.0, 0.0, 1.0]
dataset-parameters Frequency 200
algorithm-remap mono_topic /camera/image_raw
algorithm-remap imu_topic /imu
dataset-remap /camera/image_raw /cam0/image_raw
dataset-remap /imu /imu0
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.05328674836028182 0.0445923657031445 0.03438715366804914 0.02917187809876181 0.009717906266514467 0.11380332029865634 0.914311771361463
RPE 0.9914649392859368 0.9248700418463703 1.0089243784185917 0.3572368003556737 0.047457522806100015 1.4920900718461112 216.26059968331862
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.6684391191612604 1.1656109981822877 962.8203125