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orb-slam3-ros-mono with MH_04_difficult
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | nFeatures | 2000 |
| 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 | newWidth | 600 |
| dataset-parameters | newHeight | 350 |
| 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 | useNewWidth | Camera.newWidth |
| dataset-parameters | useNewHeight | Camera.newHeight |
| 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 | 0.047652472590558534 | 0.043558858296455796 | 0.03891410136577263 | 0.019323146946168383 | 0.01129264140864887 | 0.1512129777938475 | 0.4541516287987864 |
| RPE | 1.0899155422867886 | 1.0561417550323682 | 1.1256659848367416 | 0.26922199500682265 | 0.1328794860203701 | 1.5083763960336822 | 112.85200948523892 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.7807596444420637 | 1.129075896581131 | 849.06640625 |