Wiki Link
orb-slam3-ros-mono with MH_01_easy
| Parameter type | Parameter name | Parameter value |
|---|---|---|
| algorithm-parameters | nFeatures | 2000 |
| algorithm-parameters | scaleFactor | 1.2 |
| algorithm-parameters | nLevels | 8 |
| algorithm-parameters | iniThFAST | 20 |
| algorithm-parameters | minThFAST | 7 |
| dataset-parameters | fps | 10 |
| 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 | 2 |
| dataset-resolution | /cam0/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.04320600555043185 | 0.03766414636281935 | 0.03457349904896649 | 0.021170049465791773 | 0.0033925195168270634 | 0.08186164089581141 | 0.39388613119665306 |
| RPE | 0.9620150870062119 | 0.8745721320469949 | 0.9678122538752804 | 0.4007450729258475 | 0.06570454622115023 | 1.4435707723543418 | 106.42939817717047 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.4498290545032755 | 1.0550682483214366 | 975.46875 |