MapFuse: Complete and Realistic 3D Modelling

Figure 9

In (a), the initial guess (IG) is iteratively merged with the complete SLAM point cloud (SL). A balance between map completeness and detail is regulated by the amount of IG or SL point clouds we merge. (b) illustrates another option, where a single IG is merged with partial online SLAM clouds (). The online merging process is finished when SLAM has completely processed the dataset. The difference between both merging methods is discussed in detail in Section 4.3.

(a) Iterative merging

(b) Online merging