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C++ implementation of the parametrization and optimization introduced in
SILVA, Ronnypetson Souza da. Monocular visual odometry based on epipolar geometry: Odometria visual monocular baseada na geometria epipolar. 2021. 1 recurso online (83 p.) Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Computação, Campinas, SP.