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+SVO
+===
+
+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
+
+#### Disclaimer
+
+SVO has been tested under ROS Groovy, Hydro and Indigo with Ubuntu 12.04, 13.04 and 14.04. This is research code, any fitness for a particular purpose is disclaimed.
+
+
+#### Licence
+
+The source code is released under a GPLv3 licence. A closed-source professional edition is available for commercial purposes. In this case, please contact the authors for further info.
+
+
+#### Citing
+
+If you use SVO in an academic context, please cite the following publication:
+
+    @inproceedings{Forster2014ICRA,
+      author = {Forster, Christian and Pizzoli, Matia and Scaramuzza, Davide},
+      title = {{SVO}: Fast Semi-Direct Monocular Visual Odometry},
+      booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
+      year = {2014}
+    }
+    
+    
+#### Documentation
+
+The API is documented here: http://uzh-rpg.github.io/rpg_svo/doc/
+The GTSAM documentation  https://gtsam.org/tutorials/
+
+#### Instructions
+
+See the Wiki for more instructions. https://github.com/uzh-rpg/rpg_svo/wiki and https://gtsam.org/get_started/
+
+#### Contributing
+
+You are very welcome to contribute to SVO by opening a pull request via Github.
+I try to follow the ROS C++ style guide http://wiki.ros.org/CppStyleGuide