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Updated Benchmark (markdown)

matlabbe
2015-03-09 15:16:15 -04:00
parent f89c0f9a06
commit d8c4b8a76f
1 changed files with 10 additions and 10 deletions
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Benchmark.md
+10 -10
@@ -105,7 +105,7 @@ ignored = 0
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/5/5a/NewCollege.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/5/5a/NewCollege.png)
* Note: You can use rtabmap-imagesJoiner tool to merge left and right images. * Note: You can use rtabmap-imagesJoiner tool to merge left and right images.
``` ```
$ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 NewCollege $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 NewCollege
``` ```
@@ -114,7 +114,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/d/d5/CityCentre.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/d/d5/CityCentre.png)
* Note: You can use rtabmap-imagesJoiner tool to merge left and right images. * Note: You can use rtabmap-imagesJoiner tool to merge left and right images.
``` ```
$ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 CityCentre $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 1400 CityCentre
``` ```
@@ -131,7 +131,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/08/Lip6Outdoor.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/08/Lip6Outdoor.png)
* Note: Keeping only even images and remove the last one. * Note: Keeping only even images and remove the last one.
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 10 -Rtabmap/TimeThr 1400 Lip6Outdoor ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 10 -Rtabmap/TimeThr 1400 Lip6Outdoor
``` ```
@@ -139,7 +139,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://www.robots.ox.ac.uk/~mobile) * [Dataset link](http://www.robots.ox.ac.uk/~mobile)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/03/Eynsham70km.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/03/Eynsham70km.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 70km ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 70km
``` ```
@@ -147,7 +147,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://www.robots.ox.ac.uk/NewCollegeData/) * [Dataset link](http://www.robots.ox.ac.uk/NewCollegeData/)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/3/33/NewCollegeOmni.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/3/33/NewCollegeOmni.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 NewCollegeOmni ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 1000 -Rtabmap/TimeThr 700 NewCollegeOmni
``` ```
@@ -155,7 +155,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://haselab.info/pirf.html) * [Dataset link](http://haselab.info/pirf.html)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/c/c2/CrowdedCanteen.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/c/c2/CrowdedCanteen.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 75 -Rtabmap/TimeThr 350 CrowdedCanteen ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.35 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 75 -Rtabmap/TimeThr 350 CrowdedCanteen
``` ```
@@ -163,7 +163,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/4/43/BicoccaIndoor-2009-02-25b.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/4/43/BicoccaIndoor-2009-02-25b.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BicoccaIndoor-2009-02-25b ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BicoccaIndoor-2009-02-25b
``` ```
@@ -171,7 +171,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/0d/BovisaOutdoor-2008-10-04.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/0/0d/BovisaOutdoor-2008-10-04.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BovisaOutdoor-2008-10-04 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BovisaOutdoor-2008-10-04
``` ```
@@ -179,7 +179,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/) * [Dataset link](http://www.rawseeds.org/home/category/benchmarking-toolkit/datasets/)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/e1/BovisaMixed-2008-10-06.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/e/e1/BovisaMixed-2008-10-06.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BovisaMixed-2008-10-06 ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 50 -Rtabmap/TimeThr 700 BovisaMixed-2008-10-06
``` ```
@@ -187,7 +187,7 @@ $ ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeader
* [Dataset link](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Data_sets) * [Dataset link](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/index.php/RTAB-Map#Data_sets)
* [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/1/16/UdeS_1Hz.png) * [Ground truth](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/1/16/UdeS_1Hz.png)
``` ```
./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 150 -Rtabmap/TimeThr 700 UdeS_1Hz ./rtabmap-console -Rtabmap/StatisticLogged true -Rtabmap/StatisticLoggedHeaders false -Rtabmap/PublishStats false -Mem/RehearsalIdUpdatedToNewOne true -Mem/BadSignaturesIgnored true -Rtabmap/LoopRatio 0.0 -Bayes/FullPredictionUpdate true -Kp/TfIdfLikelihoodUsed false -Mem/STMSize 30 -Mem/RehearsalSimilarity 0.2 -Mem/RecentWmRatio 0.2 -SURF/Extended false -Kp/WordsPerImage 400 -Kp/BadSignRatio 0.25 -SURF/HessianThreshold 150 -Rtabmap/TimeThr 700 UdeS_1Hz
``` ```