@article{scaleawaredirectmonocularodometry,
  title = {Scale-aware direct monocular odometry},
  author = {Carlos Campos and Juan D. Tardós},
  year = {2021},
  eprint = {2109.10077},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2109.10077v2},
}