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orb-slam3-ros-mono with MH_05_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 | 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 | /cam0/image_raw |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.6159640789013762 | 0.5645240450729933 | 0.5390062185698158 | 0.24642310977513013 | 0.07792464671193566 | 1.5010821325376527 | 111.1676417235685 |
| RPE | 1.1159693144367568 | 1.089488665204001 | 1.1454319523175913 | 0.24166497296143044 | 0.5370942179248268 | 1.6314596663070065 | 194.28045167925345 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.241585432273866 | 0.9334661769869373 | 909.51171875 |