Parameter	Description	Value
Camera Parameters
ROI	Usable part of images due to distortion	$[\sim 30,\sim 30,\sim 610,\sim 450]$
Blur Threshold	Max. value of blurriness (Section 2.2)	$1.1$–$1.5$
Disparity Range	Min-max distances between pair of pixels. This value determine the min-max distances	$[\sim 50,\sim 300]$ px → $[\sim 0.3,\sim 2]$ m
Template Square Size	Size of the template for template matching	7–15
Max Template Score	Max. allowed score of template matching	$0.004$–$0.05$
Map Generation Parameters
Voxel Size	Size of voxel in 3D space grid	$0.005$–$0.03$
Outlier Mean K	Outlier removal parameter	10–20
Outier Std Dev	Outlier removal parameter	$0.05$–$0.1$
ICP max epsilon	Max. allowed error in transformation between iterations in ICP	$0.001$
ICP max iterations	Number of iterations of ICP	10–50
ICP max corresp. dist	Max. initial distance for correspondences	$0.1$–$0.2$
ICP max fitting Score	Max. score to reject ICP result	$0.05$–$0.1$
Max allowed Translation	Max. translation to reject ICP result	$0.05$–$0.15$
Max allowed rotation	Max rotation to reject ICP result	10–20
History Size	History size of TCVF	2–4
Cluster Affil. Max. Dist.	Minimal distance between objects	$0.035$
EKF Parameters
Acc Bias Calibration	Bias data from IMU X,Y,Z	−0.14, 0.051, 6.935
Acc Frequency	Mean frequency of data	1 KHz
Gyro Noise	Average magnitude of noise	$0.05rad/s$
Gyro Frequency	Mean frequency of data	30 KHz
Imu to cam Calibration	Transformation between camera and IMU	Data from Calib
Q System cov. Mat.	Covariance of System state variables	Data from Calib
R Observation cov. Mat.	Covariance of Data	Data from Calib
Recognition System
Training params	Train parameters of SVM	—-
Detector Descriptor	Feature detector and descriptor used	SIFT