2019
DOI: 10.3390/s19040953
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Solving Monocular Visual Odometry Scale Factor with Adaptive Step Length Estimates for Pedestrians Using Handheld Devices

Abstract: The urban environments represent challenging areas for handheld device pose estimation (i.e., 3D position and 3D orientation) in large displacements. It is even more challenging with low-cost sensors and computational resources that are available in pedestrian mobile devices (i.e., monocular camera and Inertial Measurement Unit). To address these challenges, we propose a continuous pose estimation based on monocular Visual Odometry. To solve the scale ambiguity and suppress the scale drift, an adaptive pedestr… Show more

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Cited by 8 publications
(2 citation statements)
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“…However, monocular SLAM suffers from a problem called the scale drift, as it cannot retrieve the actual scale from the world without extra information. This problem has been addressed and solutions are proposed in [1], [2]. Two other types of camera can also be used in SLAM; these are RGB-D and stereo cameras.…”
Section: Introductionmentioning
confidence: 99%
“…However, monocular SLAM suffers from a problem called the scale drift, as it cannot retrieve the actual scale from the world without extra information. This problem has been addressed and solutions are proposed in [1], [2]. Two other types of camera can also be used in SLAM; these are RGB-D and stereo cameras.…”
Section: Introductionmentioning
confidence: 99%
“…A low-cost inertial measurement unit (IMU) was used by [16] [17] to estimate the scale factor in VO. Unfortunately, low-cost IMUs suffer from significant error accumulation over time, which limits the accuracy of VO [18].…”
Section: Introductionmentioning
confidence: 99%