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Figure 1 : From left to right: AR demo application with simulated car. Corresponding estimated semi-dense depth map. Estimated dense collision mesh, fixed and shown from a different perspective. Photo of running system. The attached video shows the system in action. ABSTRACT We present a direct monocular visual odometry system which runs in real-time on a smartphone. Being a direct method, it tracks and maps on the images themselves instead of extracted features such as keypoints. New imagesdoi:10.1109/ismar.2014.6948420 dblp:conf/ismar/SchopsEC14 fatcat:55wtg7fpvvfzrm76djxoy53lvq