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: 1001
  
Current mappingtask id: 1349
  


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 200
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 12.929011100368578 10.538861611196564 8.344469694185275 7.489440831831254 2.7928956087679007 36.50529598482901 660446.5050601764
RPE 0.6943414515602618 0.20428743323308907 0.07756880254430687 0.6636088426007054 0.010785495076993784 24.814678203828816 801.7490154030514
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.7991092033503264 1.4799147455515222 2399.0703125