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hey, if u r interested in Project tango, maybe it's pretty good to read some paper: Fast Visual Odometry and Mapping from RGB-D Data by Ivan, and his codes: https://github.com/ccny-ros-pkg/ccny_rgbd_tools

It shall be mostly related with Ivan's Tango work: http://www.youtube.com/watch?v=3BNOsxMZD14

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