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As a comment on the relative computational requirements of visual odometry with stereo versus Kinect (I don't have karma to comment yet), the Kinect odometry should be more lightweight since the depth information is 'free' (it comes from the Kinect) whereas in stereo you'll have to extract the depth information from the stereo images yourself. The libviso2 link that was linked is referring to monocular visual odometry, which would not be necessary under the Kinect.

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