SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo-inertial with MH_01_easy

Current mappingtask configuration id: 335
  
Current mappingtask id: 683
  


Algorithm parameters
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 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 50
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 4
dataset-frequency /cam1/image_raw 2
dataset-resolution /cam0/image_raw 0.5
dataset-resolution /cam1/image_raw 0.5
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 3.6878320193180842 2.9229701885241304 2.219072242154506 2.248632980214182 0.22722736394165874 7.688569342479801 7656.859116524435
RPE 5.878667366684236 4.565287102134362 3.1293657473764402 3.7036311483736895 0.7844861181094392 13.270887036291198 18834.507854424402
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.8458979076688589 1.4353361591640346 1038.8984375