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This paper describes a new image-based approach to tracking the 6dof trajectory of a stereo camera pair using a corresponding reference image pairs instead of explicit 3D feature reconstruction of the scene. A dense minimisation approach is employed which directly uses all grey-scale information available within the stereo pair (or stereo region) leading to very robust and precise results. Metric 3D structure constraints are imposed by consistently warping corresponding stereo images todoi:10.1109/robot.2007.363762 dblp:conf/icra/ComportMR07 fatcat:annqirp3preyrhn4uphcm7ygvu