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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Solve for scale - monocular #924

Open ShrutheeshIR opened 4 years ago

ShrutheeshIR commented 4 years ago

How does ORB-SLAM2 solve for scale in a monocular setting. I understand that it is not possible to solve and we can recover pose only upto scale, nonetheless, going through a few other issues, it is suggested that we can approximately solve in one/many of the following ways.

  1. Initializing a good scale
  2. SIm3
  3. BA

among a few others. So how exactly does ORB-SLAM2 solve for scale in monocular setting. It would also be helpful if the relevant code is pointed out for the same.

Thanks

obbiondo commented 4 years ago

I'm also interested in this topic, did you find out anything relevant?

CQnancy commented 1 year ago

May I ask if you have resolved it?