# DSOL: A Fast Direct Sparse Odometry Scheme

arXiv: https://arxiv.org/abs/2203.08182 · HTML: https://mlsanity.com/paper/2203.08182/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Mar 2022.

## Built on by (most cited first, 1 of 1)

- [UAV-Borne Mapping Algorithms for Low-Altitude and High-Speed Drone Applications](https://mlsanity.com/paper/2401.06407/) (2024)

## Abstract (arXiv)

In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved version of Direct Sparse Odometry (DSO). We propose several algorithmic and implementation enhancements which speed up computation by a significant factor (on average 5x) even on resource constrained platforms. The increase in speed allows us to process images at higher frame rates, which in turn provides better results on rapid motions. Our open-source implementation is available at https://github.com/versatran01/dsol.