Fovis is a visual odometry library that estimates the 3D motion of a camera using a source of depth information for each pixel. Its original implementation is described in the paper:
Visual Odometry and Mapping for Autonomous Flight Using an RGB-D Camera. Albert S. Huang, Abraham Bachrach, Peter Henry, Michael Krainin, Daniel Maturana, Dieter Fox, and Nicholas Roy . Int. Symposium on Robotics Research (ISRR), Flagstaff, Arizona, USA, Aug. 2011 ( PDF ).
Fovis is intended to be relatively portable. There is requirements for building and using the software are: