Bradley Newman

Pole Vector constraints are pretty common for constraining the rotation plane of elbows and knees, etc. https://knowledge.autodesk.com/support/maya/learn-explore/caas/CloudHelp/cloudhelp/2015/ENU/Maya/files/CSCo-Pole-Vector-constraints-htm.html

I've only used them as constraints. Don't honestly know enough about the details of the rest of the things you mentioned.

I'd love to use MonoSLAM in my research, is there any time table for release? Will it include any DTAM: Dense Tracking and Mapping in Real-Time functionality?

Thanks for the help. Are you actively working on ScaViSLAM or just on related research? "Why do you want monoSLAM? - that would be like wearing a patch over one...