Research Article
[Retracted] A 3D Reconstruction Method Using Multisensor Fusion in Large-Scale Indoor Scenes
Algorithm 2
Regional point cloud stack.
| Procedure Regional point cloud stack | | Submap ⟵ SubmapMessage | | for i in size of (Submap), do | | if position(Submap[i]) is changed and Submap[i] is not new Submap then | | RegionalPointcloudUnfinish [IndexInRegional(i)] | | ⟵Equation (25) (RegionalPointcloudUnfinish [IndexInRegional(i)], NewPosition(Submap[i])) | | end if | | else if Submap[i] is new Submap then | | NewPointcloud ⟵ TimeSynchronized(Submap) | | TransformedPointCloud ⟵ Equation (23) (NewPointcloud) | | ShiftedPointcloud ⟵ Equation (25) (TransformedPointCloud, position(Submap[i])) | | RegionalPointcloudUnfinish.pushback(ShiftedPointcloud) | | ResidualPointcloud ⟵ ShiftedPointcloud + ResidualPointcloud | | if sizeof(RegionalPointcloudUnfinish) ≥ threshold then | | for j in range(threshold) | | RegionAllPointcloud ⟵ RegionalPointcloudUnfinish[j] + RegionAllPointcloud | | end for | | RegionPointcloud.pushback(RegionAllPointcloud) | | RegionalPointcloudUnfinish.clear() | | ResidualPointcloud.clear() | | return RegionAllPointcloud | | else if | | return RegionAllPointcloud + ResidualPointcloud | | end if | | end if | | end if |
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