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orb-slam3-ros-stereo-inertial with MH_01_easy
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | nFeatures | 1500 |
| algorithm-parameters | scaleFactor | 1.2 |
| algorithm-parameters | nLevels | 8 |
| algorithm-parameters | iniThFAST | 20 |
| algorithm-parameters | minThFAST | 7 |
| dataset-parameters | fps | 10 |
| dataset-parameters | width | 376 |
| dataset-parameters | height | 240 |
| dataset-parameters | fx | 217.602347986 |
| dataset-parameters | fy | 217.602347986 |
| dataset-parameters | cx | 183.725860596 |
| dataset-parameters | cy | 126.10042572 |
| dataset-parameters | k1 | 0.0 |
| dataset-parameters | k2 | 0.0 |
| dataset-parameters | p1 | 0.0 |
| dataset-parameters | p2 | 0.0 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | bf | 47.90639384423901 |
| dataset-parameters | ThDepth | 35.0 |
| dataset-parameters | LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| dataset-parameters | LEFT_K | [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0] |
| dataset-parameters | LEFT_R | [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176] |
| dataset-parameters | LEFT_P | [217.602347986, 0, 183.725860596, 0, 0, 217.602347986, 126.10042572, 0, 0, 0, 1, 0] |
| dataset-parameters | bFishEye | 0 |
| dataset-parameters | RIGHT_D | [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0] |
| dataset-parameters | RIGHT_K | [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 1] |
| dataset-parameters | RIGHT_R | [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644] |
| dataset-parameters | RIGHT_P | [217.602347986, 0, 183.725860596, -47.90639384423901, 0, 217.602347986, 126.10042572, 0, 0, 0, 1, 0] |
| dataset-parameters | NoiseGyro | 0.00017 |
| dataset-parameters | NoiseAcc | 0.002 |
| dataset-parameters | GyroWalk | 1.9393e-05 |
| dataset-parameters | AccWalk | 0.003 |
| dataset-parameters | T_b_c1 | [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, 0.0, 0.0, 1.0] |
| dataset-parameters | Frequency | 200 |
| algorithm-remap | stereo_left | /camera/left/image_raw |
| algorithm-remap | stereo_right | /camera/right/image_raw |
| algorithm-remap | imu_topic | /imu |
| dataset-remap | /camera/left/image_raw | /cam0/image_raw |
| dataset-remap | /camera/right/image_raw | /cam1/image_raw |
| dataset-remap | /imu | /imu0 |
| dataset-frequency | /cam0/image_raw | 2 |
| dataset-frequency | /imu0 | 1 |
| dataset-frequency | /cam1/image_raw | 2 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| dataset-resolution | /cam1/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 2.1540314283016597 | 1.8209807458177536 | 1.57742996893783 | 1.1506000684305147 | 0.23845281862050452 | 4.780838324257005 | 1373.3960126569414 |
| RPE | 1.7512251499788105 | 1.5641660073905552 | 1.5345323533758792 | 0.7875114140393128 | 0.22034775203552073 | 4.33974079407967 | 693.0944328575375 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.0694711027363004 | 1.5193208657413193 | 994.89453125 |