地平线用DSO做的工作:https://www.sohu.com/a/191569871_688262 代码:https://github.com/HorizonAD/stereo_dso DSO原理详解:https://blog.csdn.net/u012986684/article/details/78015094 贺一家的DSO初探:https://blog.csdn.net/heyijia0327/article/details/53173146