Scale Estimation with Dual Quadrics for Monocular Object SLAM
Shuangfu Song,Junqiao Zhao,Tiantian Feng,Chen Ye,Lu Xiong,Shuangfu Song,Junqiao Zhao,Tiantian Feng,Chen Ye,Lu Xiong
The scale ambiguity problem is inherently unsolvable to monocular SLAM without the metric baseline between moving cameras. In this paper, we present a novel scale estimation approach based on an object-level SLAM system. To obtain the absolute scale of the reconstructed map, we formulate an optimization problem to make the scaled dimensions of objects conform to the distribution of their sizes in ...
