Zhou, DingfuDai, YuchaoLi, Hongdong2023-12-121524-9050http://hdl.handle.net/1885/309794Recovering an absolute metric scale from a monocular camera is a challenging but highly desirable problem for monocular camera-based systems. By using different kinds of cues, various approaches have been proposed for scale estimation, such as camera height and object size. In this paper, first, we summarize different kinds of scale estimation approaches. Then, we propose a robust divide-and-conquer absolute scale estimation method based on the ground plane and camera height by analyzing the advantages and disadvantages of different approaches. By using the estimated scale, an effective scale correction strategy has been proposed to reduce the scale drift during the monocular visual odometry estimation process. Finally, the effectiveness and robustness of the proposed method have been verified on both public and self-collected image sequences.This work was supported in part by the Natural Science Foundation of China under Grant 61871325 and Grant 61420106007, in part by the Australian Research Council (ARC) Grants under Grant DE140100180, Grant CE140100016, and Grant DP190102261, and in part by the Australia ARC Centre of Excellence Program on Robotic Vision.application/pdfen-AU© 2019 IEEEAbsolute scale estimationground planescale correctionmonocular VO and SLAM202010.1109/TITS.2019.29003302022-09-04