The YouTube video in the HN comments links to one of the authors' Stanford page, which redirects to this page at Cornell: http://www.cs.cornell.edu/~asaxena/rcc

The YouTube video in the HN comments links to one of the authors' Stanford page, which redirects to this page at Cornell: http://www.cs.cornell.edu/~asaxena/rccar/ http://www.cs.cornell.edu/~asaxena/rccar/ There you can find the source for both the vision code in MatLAB, and a link to http://make3d.cs.cornell.edu/code.html http://make3d.cs.cornell.edu/code.html for the full source.