SLAM Hive: A SLAM Evaluation Benchmark System

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orb-slam3-ros-stereo-inertial with MH_01_easy

Current mappingtask configuration id: 376
  
Current mappingtask id: 726
  


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 20
dataset-parameters width 752
dataset-parameters height 480
dataset-parameters fx 458.654
dataset-parameters fy 457.296
dataset-parameters cx 367.215
dataset-parameters cy 248.375
dataset-parameters k1 -0.28340811
dataset-parameters k2 0.07395907
dataset-parameters p1 0.00019359
dataset-parameters p2 1.76187114e-05
dataset-parameters RGB 1
dataset-parameters bf 47.90639384423901
dataset-parameters ThDepth 60.0
dataset-parameters LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
dataset-parameters LEFT_K [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 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 [458.654, 0, 367.215, 0, 0, 457.296, 248.375, 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 [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 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 [457.587, 0, 379.999, -47.90639384423901, 0, 456.134, 255.238, 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
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 2.325429519386964 1.7859906599258146 1.4081786979104036 1.4892480694276689 0.3548568950361398 7.049722574923911 1735.8468063332475
RPE 2.0828338356466607 1.9621045666581802 1.8387126549808088 0.6988150373408526 0.3578446528020486 3.498065521767402 1327.488216795862
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.4074939634189825 1.535282078212283 3680.79296875