MapFuse: Complete and Realistic 3D Modelling

Figure 19

Optimisation results for our own datasets. For (a), online merging was applied. In (c), we conducted iterative merging of 2 point clouds.

(a) Online merging of an initial guess model (Figure 5(a)) with live RGB-D SLAM output

(b)

(c) Iterative merging of Figure 5(b) with Figure 12(e). The model consists of one initial guess and one SLAM point cloud

(d)