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 ...