SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo with MH_01_easy

Current mappingtask configuration id: 278
  
Current mappingtask id: 3282
  


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 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 35.0
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 bFishEye 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 0.04025734608586167 0.03431450141692001 0.02840149202675926 0.021051577289719566 0.0012845491208836014 0.08956342803440305 0.7244322995029484
RPE 0.9145362748212655 0.8341447263307554 0.8650597676950249 0.3749388930193111 0.042701289880642535 1.452969365113097 280.18616031792567
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.252530760017642 1.5244673307466026 1149.23828125