MVOScaleRecovery

Recover the scale of monocular visual odometry.

MVOSR is the code for the journal version that add more road point selection methods and MVOScaleRecovery is the code for conference version.

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