LSD-SLAM is a novel approach to real-time monocular SLAM. It is fully direct (i.e. does not use keypoints / features) and creates large-scale, semi-dense maps in real-time on a laptop. For more information see http://vision.in.tum.de/lsdslam where you can also find the corresponding publications and Youtube videos, as well as some example-input datasets, and the generated output as rosbag or .ply point cloud. First, install LSD-SLAM following 2.1 or 2.2, depending on your Ubuntu / ROS version. You don't need openFabMap for now.