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karanchawla / Monocular-Visual-Inertial-Odometry

This contains the code(in development) for monocular visual odometry of a quadrotor. The visual data from the monocular camera is fused with onboard IMU to develop indoor control and navigation algorithms.
MIT License
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scale #2

Open jixiedaima opened 6 years ago

jixiedaima commented 6 years ago

Can you tell me how you solved the scale problem?

karanchawla commented 6 years ago

I used this on the Kitti dataset and this information was extracted from the ground truth provided in the dataset.

ouyangandy commented 5 years ago

how to fix the scale problem without groundtruth? how to use a uniform scale?