[Engel+ 2017] Direct Sparse Odometry Engel, Jakob, Vladlen Koltun, and Daniel Cremers. "Direct sparse odometry." IEEE transactions on pattern analysis and machine intelligence 40.3 (2017): 611-625. [Engel+ 2017] ABSTRUCT Photometric errorの最小化を行うDirect probablistic modelとジオメトリ(逆深度)と姿勢を含むすべてのモデルパラメータの…