SLAM Hive: A SLAM Evaluation Benchmark System ()

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slambench3-orb-slam2-stereo with slambench3_MH_01_easy

Current mappingtask configuration id: 2470
  
Current mappingtask id: 3490
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters --max-features 1000
algorithm-parameters --scale-factor 1.2
algorithm-parameters --scale-levels 8
algorithm-parameters --initial-fast-threshold 20
algorithm-parameters --second-fast-threshold 7
dataset-parameters -fps 20
dataset-parameters --depth-threshold 40
general-parameter --realtime-mode 0
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.037845875427851255 0.03123735500970649 0.026022605863910114 0.02136674843999432 0.003351624115179992 0.08779350657859071 5.2107448237437834
RPE 0.8681743327512106 0.8012100091907798 0.8051181580997988 0.33434890940531015 0.017720799626613847 1.5159533342306406 2681.7594991468186
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
4.025459315800916 3.683613295750902 2616.2265625