@article{ldsodirectsparseodometrywithloopclosure,
  title = {LDSO: Direct Sparse Odometry with Loop Closure},
  author = {Xiang Gao and Rui Wang and Nikolaus Demmel and Daniel Cremers},
  year = {2018},
  eprint = {1808.01111},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1808.01111v1},
}