Hello. Because monocular LSD-SLAM does not know scale, I am trying to fix the scale to absolute scale (e.g., in meters) by using LiDAR data (which is in meter scale).
I used a camera matrix to correctly project the LiDAR data into an image plane.
I thus know which pixel in the LSD-SLAM's depth map corresponds to which LiDAR data.
I modified the code by simply multiplying ratio between the LSD-SLAM's depth map and LiDAR into the LSD-SLAM's depth map estimation.
However, I am keep facing with an error such that the LSD-SLAM fails to track its depth estimation.
Could I ask for your advice for correctly modifying the LSD-SLAM's depth estimation?
Thank you.
Hello. Because monocular LSD-SLAM does not know scale, I am trying to fix the scale to absolute scale (e.g., in meters) by using LiDAR data (which is in meter scale). I used a camera matrix to correctly project the LiDAR data into an image plane. I thus know which pixel in the LSD-SLAM's depth map corresponds to which LiDAR data.
I modified the code by simply multiplying ratio between the LSD-SLAM's depth map and LiDAR into the LSD-SLAM's depth map estimation. However, I am keep facing with an error such that the LSD-SLAM fails to track its depth estimation.
Could I ask for your advice for correctly modifying the LSD-SLAM's depth estimation? Thank you.