Is monocular visual odometry able to estimate relative scale? Say I have a sequence of 10 images that are taken on a single track each 1 m after the previous. Can some mono odometry method distinguish relative scale when it processes image pairs that are in various distances from each other? I mean like processing 1st vs 10th image and 9th vs 10th image - will the fist give 10x relative scale than the second?
I am examining OpenCV based odometry code (https://github.com/avisingh599/mono-vo) but it only gives something like "translation vector" that always has a size of 1 regardless the distance measured. I know mono odometry can not do absolute scale but I thought it can do relative (question is what "relative" actually means here). Seems like OpenCV's recoverPose only do a translation vector that has always the same size (I guess the size is 1)?