SLAM Hive: A SLAM Evaluation Benchmark System

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a-loam with kitti_2011_09_30_drive_0028_synced_full

Current mappingtask configuration id: 995
  
Current mappingtask id: 1342
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters mapping_skip_frame 1
algorithm-parameters minimum_range 5
algorithm-parameters mapping_line_resolution 0.4
algorithm-parameters mapping_plane_resolution 0.8
algorithm-parameters aloam_topic /points_raw
algorithm-parameters scan_line 64
dataset-parameters lidar_frequency 10
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 9.062528665305843 7.698793161280589 6.055560037508432 4.781005089864407 0.7928628148132171 25.40233733507326 329996.03290253127
RPE 1.4146080480340062 1.4056513502534498 1.4038499625961767 0.1589346126343626 0.7790258242194585 2.7838623147996633 3373.8814572425117
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.369075635341 2.8444350750323797 953.578125