K. Jatavallabhula, S. Saryazdi, G. Iyer, and L. Paull. (2019)cite arxiv:1910.10672Comment: Video: https://youtu.be/2ygtSJTmo08 . Project page and code: https://gradslam.github.io This tech report is an extended version of the ICRA 2020 paper "gradSLAM: Dense SLAM meets automatic differentiation". The first two authors contributed equally.