joss paper

.github/workflows/main.yml

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+# This is a basic workflow to help you get started with Actions
+
+name: CI
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the main branch
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  paper:
+    runs-on: ubuntu-latest
+    name: Paper Draft
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Build draft PDF
+        uses: openjournals/openjournals-draft-action@master
+        with:
+          journal: joss
+          # This should be the path to the paper within your repo.
+          paper-path: joss/paper.md
+      - name: Upload
+        uses: actions/upload-artifact@v1
+        with:
+          name: paper
+          # This is the output path where Pandoc will write the compiled
+          # PDF. Note, this should be the same directory as the input
+          # paper.md
+          path: joss/paper.pdf

joss/paper.bib

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+@article{engel2017direct,
+  title={Direct sparse odometry},
+  author={Engel, Jakob and Koltun, Vladlen and Cremers, Daniel},
+  journal={IEEE transactions on pattern analysis and machine intelligence},
+  volume={40},
+  number={3},
+  pages={611--625},
+  year={2017},
+  publisher={IEEE}
+}
+
+@inproceedings{wang2017stereo,
+  title={Stereo DSO: Large-scale direct sparse visual odometry with stereo cameras},
+  author={Wang, Rui and Schworer, Martin and Cremers, Daniel},
+  booktitle={Proceedings of the IEEE International Conference on Computer Vision},
+  pages={3903--3911},
+  year={2017}
+}
+
+@inproceedings{schubert2018direct,
+  title={Direct sparse odometry with rolling shutter},
+  author={Schubert, David and Demmel, Nikolaus and Usenko, Vladyslav and Stuckler, Jorg and Cremers, Daniel},
+  booktitle={Proceedings of the European Conference on Computer Vision (ECCV)},
+  pages={682--697},
+  year={2018}
+}
+
+@inproceedings{gao2018ldso,
+  title={LDSO: Direct sparse odometry with loop closure},
+  author={Gao, Xiang and Wang, Rui and Demmel, Nikolaus and Cremers, Daniel},
+  booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
+  pages={2198--2204},
+  year={2018},
+  organization={IEEE}
+}
+
+@ARTICLE{9669044,
+  author={Stumberg, Lukas von and Cremers, Daniel},
+  journal={IEEE Robotics and Automation Letters}, 
+  title={DM-VIO: Delayed Marginalization Visual-Inertial Odometry}, 
+  year={2022},
+  volume={7},
+  number={2},
+  pages={1408-1415},
+  doi={10.1109/LRA.2021.3140129}}
+
+
+  @inproceedings{yang2020d3vo,
+  title={D3vo: Deep depth, deep pose and deep uncertainty for monocular visual odometry},
+  author={Yang, Nan and Stumberg, Lukas von and Wang, Rui and Cremers, Daniel},
+  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
+  pages={1281--1292},
+  year={2020}
+}

joss/paper.md

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+---
+title: 'DSO++: Modern reimplementation of Direct Sparse Odometry'
+tags:
+  - SLAM
+  - odometry
+  - direct
+  - photometric bundle adjustment
+authors:
+  - name: Sergei Solonets^[co-first author]
+    orcid: 0000-0002-3469-7489
+    affiliation: "1, 2" 
+  - name: Igor Ilin^[co-first author]
+    affiliation: 1
+    orcid: 0000-0002-1834-4894
+  - name: Daniil Sinitsyn^[co-first author]
+    affiliation: 1
+    orcid: 0000-0002-9102-9065
+  - name: Maksim Smolskii
+    affiliation: 1
+    orcid: 0000-0001-9414-0853
+  - name: Oleg Chemokos 
+    affiliation: 1
+    orcid: 0000-0003-2830-4340
+  - name: Eugene Nikolsky
+    affiliation: 1
+affiliations:
+ - name: Roadly Inc
+   index: 1
+ - name: Technical University of Munich
+   index: 2
+date: 17 May 2022
+bibliography: paper.bib
+
+---
+
+# Summary
+
+Direct simultaneous localization and mapping (SLAM) is an active research topic in the computer vision community. One of the first working examples of direct SLAM is Direct Sparse Odometry(DSO) by Engel et al [@engel2017direct]. Since the release of the DSO code, researchers have proposed several extensions to the original method [@schubert2018direct] [@wang2017stereo]  [@gao2018ldso] [@9669044] [@yang2020d3vo]. The original DSO code was not designed with a presumption of continuous development and, therefore, does not follow many good software principles. Consequently, follow-up works inherit the mistakes in the code as well as poor software practices. To facilitate the research in the field we propose our reimplementation of the DSO designed to be easily modifiable and extendable. Another contribution is extensive testing of the functionality and supporting mathematical hypotheses.   
+
+# References