Visual Map Construction Using RGB-D Sensors for Image-Based Localization in Indoor Environments

Algorithm 1

The multiconstraint ICP algorithm.

(1) Extract the ORB feature descriptors from the reference RGB image ;

(2) Extract the ORB feature descriptors from the current RGB image ;

(3) Match the feature descriptors in sets and , and exclude the

outliers via the MLESAC algorithm;

(4) Perform the ICP algorithm with the initialization result and the inputs:

reference point cloud and current point cloud ;

(5) Perform 3D domain optimization via the Trust-region-reflective algorithm

with the input: ;

(6) , ;

(7) while  ;

(8)Perform pixel-level optimization via the Trust-region-reflective

algorithm with the constraint ;

(9)if  

(10) The optimization result ;

(11)break;

(12)else

(13);

(14)end

(15);

(16) end