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vins-fusion-mono-imu with MH_01_easy
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | max_cnt | 150 |
| algorithm-parameters | min_dist | 30 |
| algorithm-parameters | freq | 10 |
| algorithm-parameters | F_threshold | 1.0 |
| algorithm-parameters | max_solver_time | 0.04 |
| algorithm-parameters | max_num_iterations | 8 |
| algorithm-parameters | keyframe_parallax | 10.0 |
| algorithm-parameters | show_track | 1 |
| algorithm-parameters | flow_back | 1 |
| dataset-parameters | image_width | 752 |
| dataset-parameters | image_height | 480 |
| dataset-parameters | k1 | 1.1757726639872075 |
| dataset-parameters | k2 | 15.491281051140213 |
| dataset-parameters | p1 | -0.0008123717295455049 |
| dataset-parameters | p2 | 0.0006729768403031024 |
| dataset-parameters | gyr_n | 0.004 |
| dataset-parameters | acc_n | 0.08 |
| dataset-parameters | gyr_w | 2e-06 |
| dataset-parameters | acc_w | 4e-05 |
| dataset-parameters | estimate_td | 0 |
| dataset-parameters | td | 0.0 |
| dataset-parameters | image0_topic | /cam0/image_raw |
| dataset-parameters | imu_topic | /imu0 |
| dataset-parameters | xi | 3.6313355285286337 |
| dataset-parameters | gamma1 | 2138.7619122017772 |
| dataset-parameters | gamma2 | 2131.5886210259278 |
| dataset-parameters | u0 | 361.198566332638 |
| dataset-parameters | v0 | 248.27644773395667 |
| dataset-parameters | body_T_cam0 | [0.0148655429818, -0.999880929698, 0.00414029679422, -0.0216401454975, 0.999557249008, 0.0149672133247, 0.025715529948, -0.064676986768, -0.0257744366974, 0.00375618835797, 0.999660727178, 0.00981073058949, 0, 0, 0, 1] |
| dataset-parameters | cam0_calib | cam0_mei.yaml |
| dataset-parameters | estimate_extrinsic | 0 |
| dataset-parameters | g_norm | 9.81007 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.06723873785796405 | 0.059754664026148936 | 0.0555415332211466 | 0.030829012242594975 | 0.004364525060397865 | 0.1457390034720062 | 4.59338463463172 |
| RPE | 0.032279989937509475 | 0.027985585850382494 | 0.025685930023365458 | 0.016087409206475237 | 0.0019977342926010794 | 0.09955175254146463 | 1.0242837886094958 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.247032493816056 | 1.4849236352089703 | 1643.05859375 |