See the viso2_ros package for nodes that use this library.
Related publications can be found here. The main paper that describes this library is:
@INPROCEEDINGS{Geiger11, author = {Andreas Geiger and Julius Ziegler and Christoph Stiller}, title = {StereoScan: Dense 3d Reconstruction in Real-time}, booktitle = {IEEE Intelligent Vehicles Symposium}, year = {2011}, month = {June}, address = {Baden-Baden, Germany} }