@article{engel2017DSO,
author={J. Engel and V. Koltun and D. Cremers},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
title={{D}irect {S}parse {O}dometry},
year={2017},
volume={PP},
number={99},
pages={1-1},
doi={10.1109/TPAMI.2017.2658577},
ISSN={0162-8828}}