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orb-slam3-ros-mono with MH_01_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 | 0.0491368663302633 | 0.04334257201354475 | 0.04030161040488085 | 0.02314850068598073 | 0.004228407718341957 | 0.09237958014205226 | 0.6615542673757366 |
RPE | 0.9995099388245976 | 0.9209001620269259 | 1.0529236131588278 | 0.38853958535512495 | 0.014021853184704678 | 1.4854074421979329 | 183.81970167688374 |
Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
---|---|---|
1.5342449833762333 | 1.106455328642481 | 1502.234375 |