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@InProceedings{engel2016dso,
  author = "J. Engel and V. Koltun and D. Cremers",
  title = " Direct Sparse Odometry",
  booktitle = "arXiv:1607.02565",
  arXiv = " arXiv:1607.02565",
  year = "2016",
  month = "July",
  keywords={mono-ds,dso}
}
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