Path estimation for KITTI sequence 12 of visual odometry (up to scale 1)

The estimation of sequence 12 of the KITTI dataset using the regularized 7-point method proposed in "H. Mirabdollah and B. Mertsching. On the Second Order Statistics of Essential Matrix Elements. In: 36th German Conference on Pattern Recognition, 2014. (link.springer.c...)
The path is estimated up to scale 1. It means that the scale factor of each translation is assumed to be one.