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orb-slam3-ros-mono with MH_02_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 | 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 | /cam1/image_raw |
| dataset-frequency | /cam1/image_raw | 1 |
| dataset-resolution | /cam1/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.024687829238417787 | 0.022658622625124348 | 0.022785367647698222 | 0.009801822954811999 | 0.0024244865942557236 | 0.07892698348399332 | 0.11214595990097082 |
| RPE | 0.8616359998303037 | 0.7686354331461808 | 0.864631800249804 | 0.3893792073490189 | 0.012800336295807676 | 1.4025672933472753 | 72.75682642794958 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.8567760475088233 | 1.2710503466547032 | 952.36328125 |