- Direct Sparse Odometry, J. Engel, V. Koltun, D. Cremers, In arXiv:1607.02565, 2016
- Stereo DSO:Large-Scale Direct Sparse Visual Odometry with Stereo Cameras, Rui Wang, Martin Schwörer, Daniel Cremers, 2017 IEEE International Conference on Computer Vision
- Direct Sparse Visual-Inertial Odometry using Dynamic Marginalization, Lukas von Stumberg, Vladyslav Usenko, Daniel Cremers, 2018 IEEE International Conference on Robotics and Automation (ICRA)
- 20190416
Apply First Estimates Jacobians to scale to maintain consistency.
EuRoC MH01:
- EuRoC V1_03:
- EuRoC V2_03:
- 20190409:
green line: groundtruth, redline: VI-Stereo-DSO
Tests and evaluation in detail are needed.