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orb-slam3-ros-mono-inertial 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 | 20 |
| dataset-parameters | width | 376 |
| dataset-parameters | height | 240 |
| dataset-parameters | newWidth | 300 |
| dataset-parameters | newHeight | 175 |
| dataset-parameters | fx | 229.327 |
| dataset-parameters | fy | 228.648 |
| dataset-parameters | cx | 183.6075 |
| dataset-parameters | cy | 124.1875 |
| 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 |
| 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 | mono_topic | /camera/image_raw |
| algorithm-remap | imu_topic | /imu |
| dataset-remap | /camera/image_raw | /cam1/image_raw |
| dataset-remap | /imu | /imu0 |
| dataset-frequency | /cam1/image_raw | 1 |
| dataset-frequency | /imu0 | 1 |
| dataset-resolution | /cam1/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.21584827628828995 | 0.2037507491829875 | 0.20399437425155315 | 0.07124682858904857 | 0.05913805489658867 | 0.37330563662429656 | 12.53283868331238 |
| RPE | 0.9492180106364504 | 0.8622785381807212 | 0.9955295325756065 | 0.39685079602986684 | 0.02035246767499971 | 1.5533473627041428 | 141.45932857950942 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.7410576535821947 | 1.2251811010404823 | 948.56640625 |