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Then, it presents an extension of this RGBD-SLAM that takes advantage of a partial knowledge of the scene. This solution allows using a prior knowledge of the 3D model of the environment when this latter is available which drastically improves the localization accuracy. The proposed solutions called RGBD-SLAM and Constrained RGBD-SLAM are evaluated on several public benchmark datasets and on real scenes acquired by a Kinect sensor. The system works in real time on a standard central processing units and it can be useful for certain applications, such as localization of lightweight robots, UAVs, and VR helmet.<\/jats:p>","DOI":"10.1017\/s0263574720000363","type":"journal-article","created":{"date-parts":[[2020,6,2]],"date-time":"2020-06-02T08:44:32Z","timestamp":1591087472000},"page":"277-290","source":"Crossref","is-referenced-by-count":8,"title":["Constrained RGBD-SLAM"],"prefix":"10.1017","volume":"39","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5812-694X","authenticated-orcid":false,"given":"Sylvie","family":"Naudet-Collette","sequence":"first","affiliation":[]},{"given":"Kathia","family":"Melbouci","sequence":"additional","affiliation":[]},{"given":"Vincent","family":"Gay-Bellile","sequence":"additional","affiliation":[]},{"given":"Omar","family":"Ait-Aider","sequence":"additional","affiliation":[]},{"given":"Michel","family":"Dhome","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2020,6,2]]},"reference":[{"key":"S0263574720000363_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364911434148"},{"volume-title":"International Conference on Intelligent Robots and Systems","year":"2013","author":"Meilland","key":"S0263574720000363_ref13"},{"volume-title":"International Symposium on Mixed and Augmented Reality","year":"2011","author":"Newcombe","key":"S0263574720000363_ref8"},{"volume-title":"International Conference on Machine Vision Applications","year":"2015","author":"Melbouci","key":"S0263574720000363_ref6"},{"volume-title":"Winter Conference on Applications of Computer Vision","year":"2016","author":"Wasenm\u00fcller","key":"S0263574720000363_ref32"},{"volume-title":"International Conference on Intelligent Robots and Systems","year":"2015","author":"Winterhalter","key":"S0263574720000363_ref24"},{"key":"S0263574720000363_ref12","doi-asserted-by":"publisher","DOI":"10.1177\/0278364914551008"},{"key":"S0263574720000363_ref21","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.02.004"},{"volume-title":"International Conference on Robotics and Automation","year":"2012","author":"Endres","key":"S0263574720000363_ref31"},{"volume-title":"International Symposium on Mixed and Augmented Reality","year":"2007","author":"Klein","key":"S0263574720000363_ref25"},{"volume-title":"International Conference on Intelligent Robots and Systems","year":"2013","author":"Kerl","key":"S0263574720000363_ref14"},{"volume-title":"International Conference on Intelligent Robots and Systems","year":"2012","author":"Sturm","key":"S0263574720000363_ref9"},{"volume-title":"International Conference on Computer Vision","year":"2000","author":"Triggs","key":"S0263574720000363_ref30"},{"volume-title":"International Conference on Robotics and Automation","year":"2012","author":"Scherer","key":"S0263574720000363_ref20"},{"key":"S0263574720000363_ref28","unstructured":"28. 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O. , Shabbir, J. and Anwer, T. , \u201cRGB-depth SLAM review,\u201d CoRR, vol. abs\/1805.07696 (2018)."},{"key":"S0263574720000363_ref26","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2007.09.014"},{"volume-title":"International Conference on Robotics and Automation","year":"2012","author":"Fallon","key":"S0263574720000363_ref22"},{"key":"S0263574720000363_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2003.1238654"},{"key":"S0263574720000363_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ISMAR.2007.4538852"},{"key":"S0263574720000363_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/s11042-015-2968-8"},{"key":"S0263574720000363_ref17","doi-asserted-by":"crossref","unstructured":"17. Scherer, S. 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