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

Table 1

Parameters of Kinect v1.

Parameter	Variable	Value [unit]
Focal length of Kinect RGB camera		4.884 [mm]
Pixel size of Kinect RGB camera		9.3 []
		9.3 []
Principle point coordinates of Kinect; RGB camera		318.57 [pixel]
		262.08 [pixel]