How to estimate the poses of consecutive images in the same scale?

[4359hhh]

hello, in the code estimatepose.py ,only two poses of img1 and img2 are estimated, but in your report, consecutive images can be estimate poses. how to do that?

thanks in advance.

[nadiawangberg]

I do not think the code that produced the output shown in the report is on github. This project is far from finished, and the pose estimation from several consecutive images never fully worked. This project can be used as a reference of how to implement feature detection and description, feature matching, the 8-point algorithm. Aditionally how to extract pose from epipolar geometry, triangulation and PnP is implemented. If you are interested in implementing visual localization I recommend using these components in addition to bundle adjustment.