Ceiling-DSO applies the existing DSO algorithm to an upward-facing camera, and the authors tune its parameters to obtain what they call acceptable error rates on two indoor industrial sequences.
Evaluation of a Novel DSO-based Indoor Ceiling-Vision Odometry System
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An indoor DSO-based ceiling-vision odometry system for indoor industrial environments
Ceiling-DSO applies the existing DSO algorithm to an upward-facing camera, and the authors tune its parameters to obtain what they call acceptable error rates on two indoor industrial sequences.