Hi,
First of all, thank you for making this awesome work public. really really impressive work.
My main interest is to estimate a camera's trajectory in an "online" manner.
From what I saw, in all your evaluation scripts, you use the Umeyama alignment to align and scale the predicted trajectory to the ground truth before calculating the error metrics.
In an online scenario, where you don't have access to the ground truth trajectory, how can you still get poses that accurately represent the real-world poses? meaning, aligned and up to scale.
will appreciate any ideas\thoughts on the matter. thanks.
Hi, First of all, thank you for making this awesome work public. really really impressive work. My main interest is to estimate a camera's trajectory in an "online" manner. From what I saw, in all your evaluation scripts, you use the Umeyama alignment to align and scale the predicted trajectory to the ground truth before calculating the error metrics. In an online scenario, where you don't have access to the ground truth trajectory, how can you still get poses that accurately represent the real-world poses? meaning, aligned and up to scale.
will appreciate any ideas\thoughts on the matter. thanks.