jinjingyi/mvoscalerecovery

Recover the scale of monocular visual odometry

MVOScaleRecovery

Recover the scale of monocular visual odometry

RUN

1. save your image name in path_to_image_list by find path/| sort >path_to_image_list
2. modify the src/param.py based on your dataset
3. run python3 src/main.py path_to_image_list

Note

this is a scale recoery for a simple monocular VO, the accuracy is degraded. Current error of KITTI 00 by KITTI benchmark is 2.17% (ave every 800m)

Current result

1. KITTI 00

2. KITTI 02

3. Initial Triangles before rance

4. depth and reconstruct