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This paper proposes a novel method of estimating the absolute scale ofmonocular SfM for a multi-modal stereo camera. In the fields of computer visionand robotics, scale estimation for monocular SfM has been widely investigatedin order to simplify systems. This paper addresses the scale estimation problemfor a stereo camera system in which two cameras capture different spectralimages (e.g., RGB and FIR), whose feature points are difficult to directlymatch using descriptors. Furthermore, the number of matching points between FIRimages can be comparatively small, owing to the low resolution and lack ofthermal scene texture. To cope with these difficulties, the proposed methodestimates the scale parameter using batch optimization, based on the epipolarconstraint of a small number of feature correspondences between the invisiblelight images. The accuracy and numerical stability of the proposed method areverified by synthetic and real image experiments.

Scale Estimation of Monocular SfM for a Multi-modal Stereo Camera