  In this paper, we describe Direct Sparse Odometry Lite (DSOL), an improved
version of Direct Sparse Odometry (DSO). We propose several algorithmic and
implementation enhancements which speed up computation by a significant factor
(on average 5x) even on resource constrained platforms. The increase in speed
allows us to process images at higher frame rates, which in turn provides
better results on rapid motions. Our open-source implementation is available at
https://github.com/versatran01/dsol.
