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orb-slam3-ros-stereo-inertial with MH_05_difficult
| 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 | fx | 218.32162852 |
| dataset-parameters | fy | 218.32162852 |
| dataset-parameters | cx | 182.34145927 |
| dataset-parameters | cy | 128.59058762 |
| dataset-parameters | k1 | 0.0 |
| dataset-parameters | k2 | 0.0 |
| dataset-parameters | p1 | 0.0 |
| dataset-parameters | p2 | 0.0 |
| dataset-parameters | RGB | 1 |
| dataset-parameters | bf | 24.03237374 |
| dataset-parameters | ThDepth | 120.0 |
| dataset-parameters | LEFT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| dataset-parameters | LEFT_K | [229.327, 0.0, 183.6075, 0.0, 228.648, 124.1875, 0.0, 0.0, 1.0] |
| dataset-parameters | LEFT_R | [0.99996635, -0.00142274, 0.00807958, 0.00136574, 0.99997418, 0.00705563, -0.00808941, -0.00704436, 0.99994247] |
| dataset-parameters | LEFT_P | [218.32162852, 0, 182.34145927, 0, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0] |
| dataset-parameters | bFishEye | 0 |
| dataset-parameters | RIGHT_D | [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0] |
| dataset-parameters | RIGHT_K | [228.7935, 0.0, 189.9995, 0.0, 228.067, 127.619, 0.0, 0.0, 0.5] |
| dataset-parameters | RIGHT_R | [0.99996335, -0.00362581, 0.00775544, 0.0036804, 0.99996848, -0.00703585, -0.00772969, 0.00706413, 0.99994517] |
| dataset-parameters | RIGHT_P | [218.32162852, 0, 182.34145927, -24.03237374, 0, 218.32162852, 128.59058762, 0, 0, 0, 1, 0] |
| 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 | 50 |
| algorithm-remap | stereo_left | /camera/left/image_raw |
| algorithm-remap | stereo_right | /camera/right/image_raw |
| algorithm-remap | imu_topic | /imu |
| dataset-remap | /camera/left/image_raw | /cam0/image_raw |
| dataset-remap | /camera/right/image_raw | /cam1/image_raw |
| dataset-remap | /imu | /imu0 |
| dataset-frequency | /cam0/image_raw | 1 |
| dataset-frequency | /imu0 | 4 |
| dataset-frequency | /cam1/image_raw | 1 |
| dataset-resolution | /cam0/image_raw | 0.5 |
| dataset-resolution | /cam1/image_raw | 0.5 |
| RMSE | Mean | Median | Std | Min | Max | SSE | |
|---|---|---|---|---|---|---|---|
| ATE | 0.09600066313079642 | 0.0898304803158299 | 0.08650186389915197 | 0.033861661621662285 | 0.02601694043959386 | 0.19389480398719602 | 1.0506385146570028 |
| RPE | 1.0519326614902542 | 1.0199524715708665 | 0.9097197172669849 | 0.2574087800492641 | 0.7289349940688075 | 1.3967763906541772 | 22.131246486199398 |
| Max CPU (core) | Mean CPU (core) | Max Memory (MB) |
|---|---|---|
| 2.232767662818576 | 1.684601843349281 | 916.578125 |