What if we don't have the ground-truth to scale the translation vector ?

[ChetanPatil28]

Hi @felixchenfy , this is such good work :-)

I have a doubt on

Change scale:
Scale the translation t to be the same length as the ground truth so that I can make a comparison with ground truth. Then, scale the map points correspondingly

What if we don't have the ground-truth to scale the translation vector. I know that in such cases we can estimate the relative scale by using three-views, but I don't find a good resource on it. Can you point me out to any code that implements the relative-scale estimation ?

Thanks

[felixchenfy]

Hi, sorry I don't know what this is: "estimate the relative scale by using three-views" I was thinking to use Lidar to estimate the groundtruth. Don't know what "three-views" means.

On Sat, Nov 7, 2020 at 6:16 AM Chetan Patil [email protected] wrote:

Hi @felixchenfy https://github.com/felixchenfy , this is such good work :-)

I have a doubt on

Change scale: Scale the translation t to be the same length as the ground truth so that I can make a comparison with ground truth. Then, scale the map points correspondingly

What if we don't have the ground-truth to scale the translation vector. I know that in such cases we can estimate the relative scale by using three-views, but I don't find a good resource on it. Can you point me out to any code that implements the relative-scale estimation ?

Thanks

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[mhyoosefian]

Hi. Hope you are doing well. In this case, we have to use another sensor to overcome the scale ambiguity problem. For instance, it is common to fuse data from an IMU with data from the camera to estimate the scale. There are numerous resources on the internet, like: this one