Accurate and Robust Scale Recovery for Monocular Visual Odometry Based on Plane Geometry
Rui Tian,Yunzhou Zhang,Delong Zhu,Shiwen Liang,Sonya Coleman,Dermot Kerr,Rui Tian,Yunzhou Zhang,Delong Zhu,Shiwen Liang,Sonya Coleman,Dermot Kerr
Scale ambiguity is a fundamental problem in monocular visual odometry. Typical solutions include loop closure detection and environment information mining. For applications like self-driving cars, loop closure is not always available, hence mining prior knowledge from the environment becomes a more promising approach. In this paper, with the assumption of a constant height of the camera above the ...
