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: 1352
  


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 8.9362209914368 7.622120078016629 6.099015203348765 4.664689820780314 0.5604919008815311 24.903858449349887 320861.5912521231
RPE 1.4152931502278534 1.4062720930909893 1.4033874729373907 0.15954153464026147 0.7808378745520264 2.774369404636617 3379.1532807251333
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
3.3526764814447128 2.8200889148508264 1061.20703125