DSO: Direct Sparse Odometry

For more information see https://vision.in.tum.de/dso

https://github.com/JakobEngel/dso

1. Related Papers

• Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016
• A Photometrically Calibrated Benchmark For Monocular Visual Odometry, J. Engel, V. Usenko, D. Cremers, In arXiv:1607.02555, 2016

Get some datasets from https://vision.in.tum.de/mono-dataset .

2. Purpose of this repo

Well document and comment the key concepts inline, to help you better understand the paper and the code.