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orb-slam2-ros-mono with MH_03_medium
| 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 | 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 | Camera_width | 752 |
| dataset-parameters | Camera_height | 480 |
| algorithm-remap | mono_topic | /camera/image_raw |
| dataset-remap | /camera/image_raw | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.03834344811886245 | 0.03503684146352455 | 0.029984390070615027 | 0.015576898083499923 | 0.0084258558842979 | 0.08526727704894985 | 0.23670542219666735 |
| RPE | 1.028546002408453 | 0.979078455422805 | 1.0499226944523077 | 0.3151384730516152 | 0.07336478951707641 | 1.455254214905332 | 58.18487834887251 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.6779724925312955 | 1.114891078057363 | 791.8515625 |