Yep, Scaramuzza has been putting out some great work recently. So far this year, this work from TUM has been perhaps the most impressive, and the code is publi

Yep, Scaramuzza has been putting out some great work recently. So far this year, this work from TUM has been perhaps the most impressive, and the code is published online: http://vision.in.tum.de/research/lsdslam http://vision.in.tum.de/research/lsdslam