SLAM Hive: A SLAM Evaluation Benchmark System

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lio-sam with kitti_2011_09_30_drive_0027_synced_full

Current mappingtask configuration id: 289
  
Current mappingtask id: 636
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters edgeThreshold 1.0
algorithm-parameters surfThreshold 0.1
algorithm-parameters edgeFeatureMinValidNum 10
algorithm-parameters surfFeatureMinValidNum 100
algorithm-parameters odometrySurfLeafSize 0.4
algorithm-parameters mappingCornerLeafSize 0.2
algorithm-parameters mappingSurfLeafSize 0.4
algorithm-parameters z_tollerance 1000
algorithm-parameters rotation_tollerance 1000
algorithm-parameters numberOfCores 4
algorithm-parameters mappingProcessInterval 0.15
algorithm-parameters surroundingkeyframeAddingDistThreshold 1.0
algorithm-parameters surroundingkeyframeAddingAngleThreshold 0.2
algorithm-parameters surroundingKeyframeDensity 2.0
algorithm-parameters surroundingKeyframeSearchRadius 50.0
algorithm-parameters loopClosureFrequency 1.0
algorithm-parameters surroundingKeyframeSize 50
algorithm-parameters historyKeyframeSearchRadius 15.0
algorithm-parameters historyKeyframeSearchTimeDiff 30.0
algorithm-parameters historyKeyframeSearchNum 25
algorithm-parameters historyKeyframeFitnessScore 0.3
algorithm-parameters gpsCovThreshold 2.0
algorithm-parameters poseCovThreshold 25.0
algorithm-parameters downsampleRate 2
algorithm-parameters pointCloudTopic points_raw
algorithm-parameters imuTopic imu_raw
algorithm-parameters savePCD False
algorithm-parameters savePCDDirectory /Downloads/LOAM/
algorithm-parameters loopClosureEnableFlag True
algorithm-parameters navsatfrequency 50
algorithm-parameters navsatwait_for_datum False
algorithm-parameters navsatdelay 0.0
algorithm-parameters navsatmagnetic_declination_radians 0
algorithm-parameters navsatyaw_offset 0
algorithm-parameters navsatzero_altitude True
algorithm-parameters navsatbroadcast_utm_transform False
algorithm-parameters navsatbroadcast_utm_transform_as_parent_frame False
algorithm-parameters navsatpublish_filtered_gps False
algorithm-parameters ekf_gpspublish_tf False
algorithm-parameters ekf_gpsfrequency 50
algorithm-parameters ekf_gpstwo_d_mode False
algorithm-parameters ekf_gpssensor_timeout 0.01
algorithm-parameters GpsElevation False
algorithm-parameters gpsTopic odometry/gpsz
dataset-parameters imuGyrNoise 0.0015636343949698187
dataset-parameters imuAccNoise 0.003993957088823881
dataset-parameters imuGyrBiasN 3.564031869636761e-05
dataset-parameters imuAccBiasN 6.435665935353257e-05
dataset-parameters imuGravity 9.80511
dataset-parameters sensor velodyne
dataset-parameters N_SCAN 64
dataset-parameters Horizon_SCAN 1800
dataset-parameters lidarMinRange 1.0
dataset-parameters lidarMaxRange 1000.0
dataset-parameters imuRPYWeight 0.01
dataset-parameters extrinsicTrans [-0.8086759, 0.3195559, -0.7997231]
dataset-parameters extrinsicRPY [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
dataset-parameters extrinsicRot [0.9999976, 0.0007553071, -0.002035826, -0.0007854027, 0.9998898, -0.01482298, 0.002024406, 0.01482454, 0.9998881]
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 2.6907813271245327 2.536479904509497 2.59525636489858 0.8980945631844997 0.389210623397161 4.405097466031177 3786.6790706602787
RPE 1.358814750846346 1.33607687750615 1.3933200457667225 0.24754010687368241 0.9551850354554213 2.087716934405872 201.25515045582026
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.3163937117231397 1.992103905478148 588.4375