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: 3491
  


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 0.04047321785332586 0.03285325385198958 0.027417519228713376 0.023637789125455597 0.0016214439194285808 0.10966518905766938 5.959340000059296
RPE 0.8682436596872073 0.8018178909672969 0.8138383841569863 0.3330692455207939 0.015068729740206429 1.5159857006893336 2682.1878131046706
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.1710679394966643 1.883319131526439 1165.2890625