SLAM Hive: A SLAM Evaluation Benchmark System

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Total mapping tasks number: 16
Contains (mapping task id, evaluation id): [ (652, 331), (653, 332), (654, 333), (655, 334), (656, 335), (657, 336), (658, 337), (659, 338), (660, 339), (661, 340), (662, 341), (663, 342), (664, 343), (665, 344), (666, 345), (667, 346) ]
Current mappingtask id: 652

orb-slam3-ros-stereo-inertial with MH_01_easy


Algorithm parameters
Parameter name Parameter value
nFeatures 1000
scaleFactor 1.2
nLevels 8
iniThFAST 20
minThFAST 7
Dataset parameters
Parameter name Parameter value
fps 20
width 752
height 480
fx 435.2046959714599
fy 435.2046959714599
cx 367.4517211914062
cy 252.2008514404297
k1 0.0
k2 0.0
p1 0.0
p2 0.0
RGB 1
bf 47.90639384423901
ThDepth 35.0
LEFT_D [-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05, 0.0]
LEFT_K [458.654, 0.0, 367.215, 0.0, 457.296, 248.375, 0.0, 0.0, 1.0]
LEFT_R [0.999966347530033, -0.001422739138722922, 0.008079580483432283, 0.001365741834644127, 0.9999741760894847, 0.007055629199258132, -0.008089410156878961, -0.007044357138835809, 0.9999424675829176]
LEFT_P [435.2046959714599, 0, 367.4517211914062, 0, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
bFishEye 0
RIGHT_D [-0.28368365, 0.07451284, -0.00010473, -3.555907e-05, 0.0]
RIGHT_K [457.587, 0.0, 379.999, 0.0, 456.134, 255.238, 0.0, 0.0, 1]
RIGHT_R [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
RIGHT_P [435.2046959714599, 0, 367.4517211914062, -47.90639384423901, 0, 435.2046959714599, 252.2008514404297, 0, 0, 0, 1, 0]
NoiseGyro 0.00017
NoiseAcc 0.002
GyroWalk 1.9393e-05
AccWalk 0.003
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]
Frequency 200
Algorithm remaps
Parameter name Parameter value
stereo_left /camera/left/image_raw
stereo_right /camera/right/image_raw
imu_topic /imu
Dataset remaps
Parameter name Parameter value
/camera/left/image_raw /cam0/image_raw
/camera/right/image_raw /cam1/image_raw
/imu /imu0
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.0629175 0.0552719 0.0513992 0.0300603 0.00830525 0.157055 0.732342
RPE 0.980104 0.93172 0.956129 0.304142 0.270303 1.42984 70.1241
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
2.27779 1.65301 1219.05