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vins-fusion-stereo-imu 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 | max_solver_time | 0.04 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | show_track | 1 |
| algorithm-parameters | flow_back | 1 |
| algorithm-parameters | image1_topic | /cam1/image_raw |
| dataset-parameters | image_width | 752 |
| dataset-parameters | image_height | 480 |
| dataset-parameters | cam0_k1 | 1.1757726639872075 |
| dataset-parameters | cam0_k2 | 15.491281051140213 |
| dataset-parameters | cam0_p1 | -0.0008123717295455049 |
| dataset-parameters | cam0_p2 | 0.0006729768403031024 |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | image0_topic | /cam0/image_raw |
| dataset-parameters | cam0_xi | 3.6313355285286337 |
| dataset-parameters | cam0_gamma1 | 2138.7619122017772 |
| dataset-parameters | cam0_gamma2 | 2131.5886210259278 |
| dataset-parameters | cam0_u0 | 361.198566332638 |
| dataset-parameters | cam0_v0 | 248.27644773395667 |
| dataset-parameters | body_T_cam0 | [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, 1] |
| dataset-parameters | cam0_calib | cam0_mei.yaml |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | body_T_cam1 | [0.0125552670891, -0.999755099723, 0.0182237714554, -0.0198435579556, 0.999598781151, 0.0130119051815, 0.0251588363115, 0.0453689425024, -0.0253898008918, 0.0179005838253, 0.999517347078, 0.00786212447038, 0, 0, 0, 1] |
| dataset-parameters | cam1_calib | cam1_mei.yaml |
| dataset-parameters | cam1_xi | 0.8126150589414611 |
| dataset-parameters | cam1_gamma1 | 834.0624973543779 |
| dataset-parameters | cam1_gamma2 | 831.4060676591695 |
| dataset-parameters | cam1_u0 | 374.3200735524974 |
| dataset-parameters | cam1_v0 | 254.22391621480082 |
| dataset-parameters | cam1_p1 | -0.0006665314436490669 |
| dataset-parameters | cam1_p2 | 0.0007231125584676709 |
| dataset-parameters | cam1_k1 | -0.34247886078397966 |
| dataset-parameters | cam1_k2 | 0.17108792755973357 |
| dataset-parameters | gyr_n | 0.01 |
| dataset-parameters | acc_n | 0.1 |
| dataset-parameters | gyr_w | 0.0001 |
| dataset-parameters | acc_w | 0.001 |
| 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 | 0.04134409338001435 | 0.03459592749565496 | 0.03068987260165831 | 0.02263748789355239 | 0.000909326741840351 | 0.12211775010993758 | 1.75206740885073 |
| RPE | 0.026324493681789695 | 0.02355968443655733 | 0.021308945900303113 | 0.0117439446887502 | 0.002488038516728655 | 0.07276699903076304 | 0.6895140727645727 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.7010370452643397 | 1.7274920257822504 | 1596.78125 |