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vins-mono with MH_02_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 | 458.654 |
| dataset-parameters | fy | 457.296 |
| dataset-parameters | cx | 367.215 |
| dataset-parameters | cy | 248.375 |
| 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 | fps | 20 |
| dataset-parameters | imu_frequency | 200 |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.15957928031505372 | 0.1316779287045204 | 0.10152759411047627 | 0.09014693449007423 | 0.011736277930565224 | 0.33538832145502984 | 22.155025634107332 |
| RPE | 0.05287085763659973 | 0.04284527418893719 | 0.03665375000341932 | 0.03097757361228263 | 0.0013604302227637234 | 0.18506601552763105 | 2.3229172249877945 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.181445402947516 | 1.4300827491548638 | 1369.21484375 |