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orb-slam3-ros-mono with MH_04_difficult
| 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 | 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 | /cam1/image_raw |
| dataset-frequency | /cam1/image_raw | 2 |
| dataset-resolution | /cam1/image_raw | 1.0 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.2533156853393571 | 0.23597470601935389 | 0.2181276084603465 | 0.09211283601120791 | 0.060500175435056106 | 0.4320776686386183 | 16.683897474126525 |
| RPE | 1.0949065745458082 | 1.0421334721392346 | 1.152293834484286 | 0.33582470610522114 | 0.0521960450741538 | 1.5307068541433424 | 171.43131819865982 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 1.16799730882578 | 0.7577323255381396 | 769.8671875 |