@inproceedings{mo2019extending,
  title={Extending monocular visual odometry to stereo camera systems by scale optimization},
  author={Mo, Jiawei and Sattar, Junaed},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={6921--6927},
  year={2019},
  organization={IEEE}
}