SLAM Hive: A SLAM Evaluation Benchmark System

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Total mapping tasks number: 39
Contains (mapping task id, evaluation id): [ (1212, 867), (1213, 868), (1214, 869), (1216, 870), (1217, 871), (1218, 872), (1219, 873), (1220, 874), (1221, 875), (1222, 876), (1224, 877), (1225, 878), (1226, 879), (1227, 880), (1268, 913), (1269, 914), (1270, 915), (1271, 916), (1272, 917), (1274, 918), (1276, 919), (1277, 920), (1278, 921), (1279, 922), (1280, 923), (1282, 924), (1283, 925), (1821, 1316), (1824, 1319), (1827, 1320), (1830, 1323), (2313, 1715), (2314, 1716), (2315, 1717), (2363, 1757), (2364, 1758), (2365, 1759), (2413, 1798), (2416, 1799) ]
Current mappingtask id: 1212

orb-slam3-ros-mono-inertial with MH_04_difficult


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
newWidth 600
newHeight 350
fx 458.654
fy 457.296
cx 367.215
cy 248.375
k1 -0.28340811
k2 0.07395907
p1 0.00019359
p2 1.76187114e-05
RGB 1
useNewWidth Camera.newWidth
useNewHeight Camera.newHeight
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
mono_topic /camera/image_raw
imu_topic /imu
Dataset remaps
Parameter name Parameter value
/camera/image_raw /cam0/image_raw
/imu /imu0
ATE and RPE Error Statistics
RMSE Mean Median Std Min Max SSE
ATE 0.224268 0.188701 0.182638 0.121195 0.03537 1.58941 11.8699
RPE 1.14783 1.11686 1.19958 0.264829 0.409774 1.49649 167.323
Computing resource usage
Max CPU (core) Mean CPU (core) Max Memory (MB)
1.4872 1.00261 845.875