SLAM Hive: A SLAM Evaluation Benchmark System ()

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lego-loam-imu with kitti_2011_09_30_drive_0028_synced_full

Current mappingtask configuration id: 998
  
Current mappingtask id: 1345
  


Algorithm parameters
Parameter type Parameter name Parameter value
algorithm-parameters pointcloud_topic /points_raw
algorithm-parameters imu_topic /imu_raw
dataset-parameters lidar_frequency 10
dataset-parameters imu_frequency 100
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 9.412006022191255 7.80973269595391 6.135959492349588 5.252992726009898 0.9835749817895956 28.66376479146544 355937.9748795695
RPE 0.3046837449464211 0.18144556138576765 0.07569745000540602 0.2447645658341489 0.011766079404798041 2.0600458442575547 154.936915821307
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.4662019114127594 1.4337085765651074 1066.25