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Furthermore, we feed the estimated pose to the highly accurate KinectFusion algorithm, which uses a fast ICP (Iterative Closest Point) to fine-tune the frame-to-frame relative pose and fuse the depth data into a global implicit surface. We evaluate our method on a publicly available RGB-D SLAM benchmark dataset by Sturm et al. The experimental results show that our proposed reconstruction method solely based on visual odometry and KinectFusion outperforms the state-of-the-art RGB-D SLAM system accuracy. Moreover, our algorithm outputs a ready-to-use polygon mesh (highly suitable for creating 3D virtual worlds) without any postprocessing steps.<\/jats:p>","DOI":"10.1145\/2629673","type":"journal-article","created":{"date-parts":[[2015,4,3]],"date-time":"2015-04-03T20:29:44Z","timestamp":1428092984000},"page":"1-10","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":8,"title":["A Combined Approach Toward Consistent Reconstructions of Indoor Spaces Based on 6D RGB-D Odometry and KinectFusion"],"prefix":"10.1145","volume":"6","author":[{"given":"Nadia","family":"Figueroa","sequence":"first","affiliation":[{"name":"Ecole Polytechnique Federale de Lausanne (EPFL), Lausanne, Switzerland"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Haiwei","family":"Dong","sequence":"additional","affiliation":[{"name":"University of Ottawa, Ottawa, ON, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Abdulmotaleb El","family":"Saddik","sequence":"additional","affiliation":[{"name":"University of Ottawa and New York University Abu Dhabi, Ottawa, ON, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2015,3,31]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-88693-8_8"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2013.10.001"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.cviu.2007.09.014"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/34.121791"},{"key":"e_1_2_2_5_1","unstructured":"Gary Bradski. 2000. 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