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This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well. This code implements a semi-direct monocular visual odometry pipeline which has been integrated with GTSAM to infused IMU as well.
Video: http://youtu.be/2YnIMfw6bJY
Paper: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf Paper svo: http://rpg.ifi.uzh.ch/docs/ICRA14_Forster.pdf
Paper Svo+GTSAM: https://arxiv.org/abs/1512.02363
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