SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam2-ros-stereo with MH_01_easy

Current mappingtask configuration id: 275
  
Current mappingtask id: 3329
  


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 20.0
dataset-parameters Camera_width 752
dataset-parameters Camera_height 480
dataset-parameters fx 435.2046959714599
dataset-parameters fy 435.2046959714599
dataset-parameters cx 367.4517211914062
dataset-parameters cy 252.2008514404297
dataset-parameters k1 0.0
dataset-parameters k2 0.0
dataset-parameters p1 0.0
dataset-parameters p2 0.0
dataset-parameters RGB 1
dataset-parameters bf 47.90639384423901
dataset-parameters ThDepth 35
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
dataset-parameters LEFT_R [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
dataset-parameters LEFT_P [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
dataset-parameters RIGHT_D [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
dataset-parameters RIGHT_K [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
dataset-parameters RIGHT_R [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
dataset-parameters RIGHT_P [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
algorithm-remap stereo_left /camera/left/image_raw
algorithm-remap stereo_right /camera/right/image_raw
dataset-remap /camera/left/image_raw /cam0/image_raw
dataset-remap /camera/right/image_raw /cam1/image_raw
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.03185801380364463 0.02587074709793097 0.02153867313411137 0.018591328304026798 0.0007116591366970803 0.07570639104319189 3.29954732446145
RPE 0.8660934201244743 0.7985112161191232 0.8006803508234883 0.33540669360474606 0.018257793877708057 1.39652753789682 2382.3741721281194
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.783401395988835 2.5764461313040536 1052.93359375