SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo-inertial with MH_01_easy

Current mappingtask configuration id: 358
  
Current mappingtask id: 706
  


Algorithm parameters
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 601
dataset-parameters height 384
dataset-parameters fx 348.163756777
dataset-parameters fy 348.163756777
dataset-parameters cx 293.961376953
dataset-parameters cy 201.760681152
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 [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 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 [348.163756777, 0, 293.961376953, 0, 0, 348.163756777, 201.760681152, 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 [366.9232, 0.0, 293.772, 0.0, 365.8368, 198.7, 0.0, 0.0, 1.0]
dataset-parameters RIGHT_R [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
dataset-parameters RIGHT_P [348.163756777, 0, 293.961376953, -47.90639384423901, 0, 348.163756777, 201.760681152, 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 100
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 2
dataset-frequency /cam1/image_raw 2
dataset-resolution /cam0/image_raw 0.8
dataset-resolution /cam1/image_raw 0.8
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.8460835516854224 0.7668607655847628 0.761879263439762 0.35746600207484125 0.14687605343440702 2.014167668639801 101.65174745343185
RPE 1.0337834386083447 0.9916895794415584 0.9140080509533635 0.29199310945280654 0.40771020625256066 1.5298227265975988 100.45857060644397
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.0540367150517502 1.2693475309067204 870.64453125