2020
DOI: 10.1109/access.2020.3026347
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Simple But Effective Scale Estimation for Monocular Visual Odometry in Road Driving Scenarios

Abstract: In large-scale environments, scale drift is a crucial problem of monocular visual simultaneous localization and mapping (SLAM). A common solution is to utilize the camera height, which can be obtained using the reconstructed 3D ground points (3DGPs) from two successive frames, as prior knowledge. Increasing the number of 3DGPs by using more proceeding frames can be a natural extension of this solution to estimate a more precise camera height. However, merely employing multiple frames based on conventional meth… Show more

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