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Recovering the absolute metric scale from a monocular camera is a challengingbut highly desirable problem for monocular camera-based systems. By usingdifferent kinds of cues, various approaches have been proposed for scaleestimation, such as camera height, object size etc. In this paper, firstly, wesummarize different kinds of scale estimation approaches. Then, we propose arobust divide and conquer the absolute scale estimation method based on theground plane and camera height by analyzing the advantages and disadvantages ofdifferent approaches. By using the estimated scale, an effective scalecorrection strategy has been proposed to reduce the scale drift during theMonocular Visual Odometry (VO) estimation process. Finally, the effectivenessand robustness of the proposed method have been verified on both public andself-collected image sequences.

Ground Plane based Absolute Scale Estimation for Monocular Visual Odometry