This software is the MATLAB and C++ implementation of the following paper:

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Two efficient solutions for visual odometry using directional correspondence, 
Oleg Naroditsky, Xun S Zhou, Jean Gallier, Stergios I Roumeliotis, Kostas Daniilidis,
Pattern Analysis and Machine Intelligence, 2012
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Contact

Menglong Zhu: menglong AT cis.upenn.edu