Accurate Photometric and Geometric Error Minimisation with Inverse Depth & What to landmark?

Two papers related to RGBD mapping from a nice collaboration with Daniel Gutierrez and Josechu Guerrero from the University of Zaragoza. Both to be presented at ICRA 2015. One of them nominated for Awards:

•  D. Gutiérrez-Gómez, W. Mayol-Cuevas, J.J. Guerrero. "Inverse Depth for Accurate Photometric and Geometric Error Minimisation in RGB-D Dense Visual Odometry", In IEEE International Conference on Robotics and Automation (ICRA), 2015. Nominated for Best Robotic Vision Paper Award. [pdf][video][code available] 

•  D. Gutiérrez-Gómez, W. Mayol-Cuevas, J.J. Guerrero. "What Should I Landmark? Entropy of Normals in Depth Juts for Place Recognition in Changing Environments Using RGB-D Data", In IEEE International Conference on Robotics and Automation (ICRA), 2015.[pdf]