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orb-slam3-ros-mono with MH_01_easy
| 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 | 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 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.04560728392984833 | 0.04007398051921623 | 0.03714421705588216 | 0.021773847450629404 | 0.002744096857771146 | 0.11386838212382197 | 0.5616065738136065 |
| RPE | 1.0056910915058064 | 0.9320211854376473 | 1.0180435099582374 | 0.37782414087713173 | 0.024212243058113456 | 1.4402164940021303 | 193.18018316302079 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.5957621442564522 | 1.1343366999885582 | 946.1171875 |