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orb-slam3-ros-mono with MH_02_easy
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 | newWidth | 600 |
dataset-parameters | newHeight | 350 |
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 | useNewWidth | Camera.newWidth |
dataset-parameters | useNewHeight | Camera.newHeight |
algorithm-remap | mono_topic | /camera/image_raw |
dataset-remap | /camera/image_raw | /cam0/image_raw |
dataset-frequency | /cam0/image_raw | 1 |
dataset-resolution | /cam0/image_raw | 1.0 |
RMSE | Mean | Median | Std | Min | Max | SSE | |
---|---|---|---|---|---|---|---|
ATE | 0.03269148500301085 | 0.02867608279524352 | 0.025010523269259167 | 0.015697626165201612 | 0.002582457900666914 | 0.0871963932449563 | 0.25970216558360626 |
RPE | 0.8858724655902461 | 0.799425855055626 | 0.8939023948270823 | 0.3816914035703748 | 0.016160706397911742 | 1.3851033641607058 | 134.98044435004198 |
Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
---|---|---|
1.5425739073307752 | 1.0782435905278442 | 1538.7421875 |