Combining Feature-Based and Direct Methods for Semi-dense Real-Time Stereo Visual Odometry. - Nicola Krombach; David Droeschel; Sven Behnke (IAS, 2016)

Efficient multi-camera visual-inertial SLAM for micro aerial vehicles. - Sebastian Houben; Jan Quenzel; Nicola Krombach; Sven Behnke (IROS, 2016)

Feature-based visual odometry prior for real-time semi-dense stereo SLAM. - Nicola Krombach; David Droeschel; Sebastian Houben; Sven Behnke (Robotics Auton. Syst., 2018)