Highly Accurate Scale Estimation from Multiple Keyframes Using RANSAC Plane Fitting with a Novel Scoring Method

Ming Fan, Seung Won Jung, Sung Jea Ko

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


Due to the projective nature of a single camera, monocular visual simultaneous localization and mapping (vSLAM) algorithms suffer from scale drift. Recent studies have addressed the scale drift by estimating the height of the camera from the fitted ground plane. However, the low accuracy of 3D ground point (3DGP) reconstruction and the insufficient number of 3DGPs from the textureless ground region make the fitted plane inaccurate for scale estimation. In this paper, we introduce a novel accuracy measure of the fitted plane. From the previous keyframe, we first obtain the 3D points from the intersection of the fitted plane with a ray passing through the camera center and the 2D feature points on the ground region. We then transform the 3D points and 2D feature points to the current keyframe using their respective planar homography. Finally, we project the transformed 3D points onto the image plane of the current keyframe and measure the average Euclidean distance between the projected points and the transformed feature points. The proposed method achieves the average translation error of 1.03% on the KITTI dataset, which outperforms the state-of-the-art monocular vSLAM methods.

Original languageEnglish
Article number9268176
Pages (from-to)15335-15345
Number of pages11
JournalIEEE Transactions on Vehicular Technology
Issue number12
Publication statusPublished - 2020 Dec

Bibliographical note

Funding Information:
Manuscript received June 22, 2020; revised September 7, 2020 and October 20, 2020; accepted November 19, 2020. Date of publication November 24, 2020; date of current version January 22, 2021. This work was supported by the Institute for Information & communications Technology Promotion (IITP) grant funded by the Korea government (MSIT) (2017-0-00250, Intelligent Defense Boundary Surveillance Technology Using Collaborative Reinforced Learning of Embedded Edge Camera and Image Analysis). The review of this article was coordinated by Dr. M. Shahgir Ahmed. (Corresponding author: Seung-Won Jung.) The authors are with the Department of Electrical Engineering, Korea University, Seoul 02481, Korea (e-mail: mingfan@dali.korea.ac.kr; swjung83@ korea.ac.kr; sjko@korea.ac.kr). Digital Object Identifier 10.1109/TVT.2020.3040014

Publisher Copyright:
© 2020 IEEE.


  • Monocular SLAM
  • plane fitting
  • scale estimation

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics


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