# Scale estimation in datasets for monocular odometry

Suppose I've developed a monocular SLAM or odometry algorithm. Then I want to test it on some dataset, for example KITTI, TUM etc. How should I deal with the absolute scale in this way? Thanks.

• Correct me if I understood you wrong. Suppose we want to initialize a scale (not to make its correction along the full trajectory). From dataset we got two images: first in $t_1$ and second in $t_2$ time moments. We can do 5-point algorithm and get a unit translation vector between these two frames. Also we have ground truth translation length between them. Now we can put the scale as the first length divided by the second one (or v. versa). Right? – Roman Dosaev Mar 9 '18 at 11:33