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orb-slam3-ros-mono with MH_03_medium
| 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 |
| 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 | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.25238624027887635 | 0.2234813128519617 | 0.18641834850988273 | 0.11728135865545866 | 0.013532449944366849 | 0.5011104545133114 | 13.56784744208873 |
| RPE | 1.1118698308427026 | 1.0304911900366833 | 1.1400080105277268 | 0.41754332469213407 | 0.07910499091858805 | 1.621485641397315 | 87.77407097241078 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.5373505810190302 | 1.0728469568220325 | 828.79296875 |